fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 16:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
test/mavsdk_tests/process_helper.py
+7 -5
View File
@@ -10,8 +10,10 @@ import threading
import errno
from typing import Any, Dict, List, TextIO, Optional
PX4_GAZEBO_MODELS = "Tools/simulation/gazebo/sitl_gazebo/models"
PX4_GAZEBO_WORLDS = "Tools/simulation/gazebo/sitl_gazebo/worlds"
PX4_SITL_GAZEBO_PATH = "Tools/simulation/gazebo-classic/sitl_gazebo-classic"
PX4_GAZEBO_MODELS = PX4_SITL_GAZEBO_PATH + "/models"
PX4_GAZEBO_WORLDS = PX4_SITL_GAZEBO_PATH + "/worlds"
class Runner:
@@ -164,7 +166,7 @@ class Px4Runner(Runner):
os.path.join(workspace_dir, "test_data"),
"-d"
]
self.env["PX4_SIM_MODEL"] = "gazebo_" + self.model
self.env["PX4_SIM_MODEL"] = "gazebo-classic_" + self.model
self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
self.debugger = debugger
self.clear_rootfs()
@@ -224,7 +226,7 @@ class GzserverRunner(Runner):
self.name = "gzserver"
self.cwd = workspace_dir
self.env["GAZEBO_PLUGIN_PATH"] = \
os.path.join(workspace_dir, build_dir, "build_gazebo")
os.path.join(workspace_dir, build_dir, "build_gazebo-classic")
self.env["GAZEBO_MODEL_PATH"] = \
os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor)
@@ -262,7 +264,7 @@ class GzmodelspawnRunner(Runner):
self.name = "gzmodelspawn"
self.cwd = workspace_dir
self.env["GAZEBO_PLUGIN_PATH"] = \
os.path.join(workspace_dir, build_dir, "build_gazebo")
os.path.join(workspace_dir, build_dir, "build_gazebo-classic")
self.env["GAZEBO_MODEL_PATH"] = \
os.path.join(workspace_dir, PX4_GAZEBO_MODELS)
self.cmd = "gz"
test/rostest_px4_run.sh
+2 -2
View File
@@ -4,9 +4,9 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
PX4_SRC_DIR=${DIR}/..
source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
source ${PX4_SRC_DIR}/Tools/simulation/gazebo/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
source ${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
export ROS_LOG_DIR="$HOME/.ros/ros_logs"
mkdir -p "$ROS_LOG_DIR"