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Standalone px4 stable (#22467)

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simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.

* rolled back updates

Signed-off-by: frederik <frederik@auterion.com>

* fixing empy

Signed-off-by: frederik <frederik@auterion.com>

* Update GZBridge.cpp to lower drop position 

Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.

* Update STANDALONE env variable.

* Update STANDALONE env_variable on GZBridge

* Update src/modules/simulation/gz_bridge/GZBridge.cpp

Co-authored-by: Daniel Agar <daniel@agar.ca>

* test removal of x500

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* removed all models and reworked logic

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* remove model path in set_sdf_filename

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* filter resource path for world sdf

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* updated structure to keep old make px4_sitl

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* remove gz tools

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* import gz as submodule and reverse rc simulator logic

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* Typo fix

---------

Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Frederik Markus
2023-12-18 09:43:20 +01:00
committed by GitHub
parent 6ffc5a9eae
commit 65e53286b6
66 changed files with 101 additions and 11603 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulation/gz_bridge/CMakeLists.txt
+20 -47
View File
@@ -72,14 +72,24 @@ if(gz-transport_FOUND)
module.yaml
)
file(GLOB gz_models
LIST_DIRECTORIES true
RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/gz/models
${PX4_SOURCE_DIR}/Tools/simulation/gz/models/*
px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
include(ExternalProject)
ExternalProject_Add(gz
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_gz
INSTALL_COMMAND ""
DEPENDS git_gz
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
)
file(GLOB gz_worlds
${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf
set(gz_worlds
default
windy
baylands
)
# find corresponding airframes
@@ -100,56 +110,20 @@ if(gz-transport_FOUND)
set(model_only)
string(REGEX REPLACE ".*_gz_" "" model_only ${gz_airframe})
if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}")
if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}/model.sdf"))
#message(STATUS "Ignition SDF file found for ${model_only}")
else()
message(WARNING "Ignition no SDF file found for ${model_only}")
endif()
else()
message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only} not found")
endif()
endforeach()
foreach(model ${gz_models})
# match model to airframe
set(airframe_model_only)
set(airframe_sys_autostart)
set(gz_airframe_found)
foreach(gz_airframe IN LISTS gz_airframes)
string(REGEX REPLACE ".*_gz_" "" airframe_model_only ${gz_airframe})
string(REGEX REPLACE "_gz_.*" "" airframe_sys_autostart ${gz_airframe})
if(model STREQUAL ${airframe_model_only})
set(gz_airframe_found ${gz_airframe})
break()
endif()
endforeach()
if(gz_airframe_found)
#message(STATUS "gz model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
else()
message(WARNING "gz missing model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
endif()
foreach(world ${gz_worlds})
get_filename_component("world_name" ${world} NAME_WE)
if(world_name STREQUAL "default")
add_custom_target(gz_${model}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} $<TARGET_FILE:px4>
add_custom_target(gz_${model_only}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
)
else()
add_custom_target(gz_${model}_${world_name}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
add_custom_target(gz_${model_only}_${world_name}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
@@ -157,7 +131,6 @@ if(gz-transport_FOUND)
endif()
endforeach()
endforeach()
# PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH
configure_file(gz_env.sh.in ${PX4_BINARY_DIR}/rootfs/gz_env.sh)
src/modules/simulation/gz_bridge/GZBridge.cpp
+37 -8
View File
@@ -98,7 +98,7 @@ int GZBridge::init()
// If model position z is less equal than 0, move above floor to prevent floor glitching
if (model_pose_v[2] <= 0.0) {
PX4_INFO("Model position z is less or equal 0.0, moving upwards");
model_pose_v[2] = 1.0;
model_pose_v[2] = 0.5;
}
gz::msgs::Pose *p = req.mutable_pose();
@@ -122,15 +122,44 @@ int GZBridge::init()
bool result;
std::string create_service = "/world/" + _world_name + "/create";
if (_node.Request(create_service, req, 1000, rep, result)) {
if (!rep.data() || !result) {
PX4_ERR("EntityFactory service call failed");
bool gz_called = false;
// Check if PX4_GZ_STANDALONE has been set.
char *standalone_val = std::getenv("PX4_GZ_STANDALONE");
if ((standalone_val != nullptr) && (std::strcmp(standalone_val, "1") == 0)) {
// Check if Gazebo has been called and if not attempt to reconnect.
while (gz_called == false) {
if (_node.Request(create_service, req, 1000, rep, result)) {
if (!rep.data() || !result) {
PX4_ERR("EntityFactory service call failed");
return PX4_ERROR;
} else {
gz_called = true;
}
}
// If Gazebo has not been called, wait 2 seconds and try again.
else {
PX4_WARN("Service call timed out as Gazebo has not been detected.");
system_usleep(2000000);
}
}
}
// If PX4_GZ_STANDALONE has been set, you can try to connect but GZ_SIM_RESOURCE_PATH needs to be set correctly to work.
else {
if (_node.Request(create_service, req, 1000, rep, result)) {
if (!rep.data() || !result) {
PX4_ERR("EntityFactory service call failed.");
return PX4_ERROR;
}
} else {
PX4_ERR("Service call timed out. Check GZ_SIM_RESOURCE_PATH is set correctly.");
return PX4_ERROR;
}
} else {
PX4_ERR("Service call timed out");
return PX4_ERROR;
}
}