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rename 'gazebo' simulation to 'gazebo-classic' (#20936)

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- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
This commit is contained in:
Daniel Agar
2023-01-15 11:36:12 -05:00
committed by GitHub
parent 6605378d0d
commit 6991ac014c
56 changed files with 169 additions and 153 deletions
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src/modules/simulation/simulator_mavlink/CMakeLists.txt
+1 -1
View File
@@ -56,6 +56,6 @@ px4_add_module(
)
include(sitl_targets_flightgear.cmake)
include(sitl_targets_gazebo.cmake)
include(sitl_targets_gazebo-classic.cmake)
include(sitl_targets_jmavsim.cmake)
include(sitl_targets_jsbsim.cmake)
src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake → src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
+57 -40
View File
@@ -3,7 +3,7 @@ find_package(gazebo)
if(gazebo_FOUND)
message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and targets")
message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and gazebo-classic targets")
# Estimate an appropriate number of parallel jobs
cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
@@ -40,17 +40,17 @@ if(gazebo_FOUND)
# Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
# project to build sitl_gazebo if necessary
px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
px4_add_git_submodule(TARGET git_sitl_gazebo-classic PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic")
include(ExternalProject)
ExternalProject_Add(sitl_gazebo
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo
ExternalProject_Add(sitl_gazebo-classic
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
CMAKE_ARGS
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-DSEND_ODOMETRY_DATA=ON
-DGENERATE_ROS_MODELS=ON
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo-classic
INSTALL_COMMAND ""
DEPENDS git_gazebo
DEPENDS git_sitl_gazebo-classic
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
@@ -114,34 +114,34 @@ if(gazebo_FOUND)
)
# find corresponding airframes
file(GLOB gazebo_airframes
RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
file(GLOB gazebo-classic_airframes
RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo-classic_*
)
# remove any .post files
foreach(gazebo_airframe IN LISTS gazebo_airframes)
if(gazebo_airframe MATCHES ".post")
list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
if(gazebo-classic_airframe MATCHES ".post")
list(REMOVE_ITEM gazebo-classic_airframes ${gazebo-classic_airframe})
endif()
endforeach()
list(REMOVE_DUPLICATES gazebo_airframes)
list(REMOVE_DUPLICATES gazebo-classic_airframes)
foreach(gazebo_airframe IN LISTS gazebo_airframes)
foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
set(model_only)
string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
string(REGEX REPLACE ".*_gazebo-classic_" "" model_only ${gazebo-classic_airframe})
if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}")
if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf")
OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf.jinja"))
#message(STATUS "SDF file found for ${model_only}")
else()
message(WARNING "No SDF file found for ${model_only}")
endif()
else()
message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only} not found")
endif()
endforeach()
@@ -151,73 +151,90 @@ if(gazebo_FOUND)
# match model to airframe
set(airframe_model_only)
set(airframe_sys_autostart)
set(gazebo_airframe_found)
foreach(gazebo_airframe IN LISTS gazebo_airframes)
set(gazebo-classic_airframe_found)
foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes)
string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
string(REGEX REPLACE ".*_gazebo-classic_" "" airframe_model_only ${gazebo-classic_airframe})
string(REGEX REPLACE "_gazebo-classic_.*" "" airframe_sys_autostart ${gazebo-classic_airframe})
if(model STREQUAL ${airframe_model_only})
set(gazebo_airframe_found ${gazebo_airframe})
set(gazebo-classic_airframe_found ${gazebo-classic_airframe})
break()
endif()
endforeach()
if(gazebo_airframe_found)
#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
if(gazebo-classic_airframe_found)
#message(STATUS "gazebo-classic model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
else()
message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
message(WARNING "gazebo-classic missing model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
endif()
foreach(world ${worlds})
if(world STREQUAL "none")
if(debugger STREQUAL "none")
if(model STREQUAL "none")
set(_targ_name "gazebo")
set(_targ_name "gazebo-classic")
else()
set(_targ_name "gazebo_${model}")
set(_targ_name "gazebo-classic_${model}")
endif()
else()
if(model STREQUAL "none")
set(_targ_name "gazebo___${debugger}")
set(_targ_name "gazebo-classic___${debugger}")
else()
set(_targ_name "gazebo_${model}_${debugger}")
set(_targ_name "gazebo-classic_${model}_${debugger}")
endif()
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4 sitl_gazebo
DEPENDS px4 sitl_gazebo-classic
)
string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name})
add_custom_target(${_targ_name_compat}
COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}"
COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name}
USES_TERMINAL
VERBATIM
)
else()
if(debugger STREQUAL "none")
if(model STREQUAL "none")
set(_targ_name "gazebo___${world}")
set(_targ_name "gazebo-classic___${world}")
else()
set(_targ_name "gazebo_${model}__${world}")
set(_targ_name "gazebo-classic_${model}__${world}")
endif()
else()
if(model STREQUAL "none")
set(_targ_name "gazebo__${debugger}_${world}")
set(_targ_name "gazebo-classic__${debugger}_${world}")
else()
set(_targ_name "gazebo_${model}_${debugger}_${world}")
set(_targ_name "gazebo-classic_${model}_${debugger}_${world}")
endif()
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4 sitl_gazebo
DEPENDS px4 sitl_gazebo-classic
)
string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name})
add_custom_target(${_targ_name_compat}
COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}"
COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name}
USES_TERMINAL
VERBATIM
)
endif()
endforeach()
endforeach()
endforeach()
add_custom_target(gazebo DEPENDS gazebo_iris) # alias
add_custom_target(gazebo-classic DEPENDS gazebo-classic_iris) # alias
add_custom_target(gazebo DEPENDS gazebo-classic_iris) # alias
# mavsdk tests currently depend on sitl_gazebo
ExternalProject_Add(mavsdk_tests