mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-14 18:47:35 +08:00
SITL gz fixes and init cleanup (#20725)
- remove broken gz version handling and remove x500-legacy - fix all shellcheck warnings - prepare for Gazebo Garden compatibility (needs more work)
This commit is contained in:
Daniel Agar
@@ -3,7 +3,7 @@
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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@@ -13,108 +13,97 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
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sensor_mag_sim start
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else
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echo "ERROR [init] simulator_sih failed to start"
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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elif [ "$PX4_SIMULATOR" = "gz" ]; then
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# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
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if [ -f gazebo_env.sh ]; then
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if [ -f ./gazebo_env.sh ]; then
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. ./gazebo_env.sh
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elif [ -f ../gazebo_env.sh ]; then
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. ../gazebo_env.sh
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fi
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_VERBOSE ]; then
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if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
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gz_verbose=$PX4_GZ_VERBOSE
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else
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gz_verbose=4
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echo "WARN [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
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fi
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echo "INFO [init] PX4_GZ_VERBOSE set to $gz_verbose."
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else
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gz_verbose=1
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echo "INFO [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
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fi
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gz_command="ign" # "ign" before garden
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gz_sub_command="gazebo" # "gazebo" before garden
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gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
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gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
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gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
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# look for running ${gz_command} gazebo world
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gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
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echo "INFO [init] using latest version of MultiCopterMotor plugin."
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else
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echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
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if [ "$PX4_SIM_MODEL" = "x500" ]; then
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PX4_SIM_MODEL="x500-Legacy"
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echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
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fi
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fi
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# shellcheck disable=SC2153
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if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
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if [ -z $gz_world ]; then
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echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
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# starting ign gazebo with ${PX4_GZ_WORLD} world
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echo "INFO [init] starting ign gazebo"
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# shellcheck disable=SC2153
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ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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if [ -z $HEADLESS ]; then
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if [ -z "${HEADLESS}" ]; then
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# HEADLESS not set, starting ign gazebo gui
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ign gazebo -g &
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${gz_command} gazebo -g &
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fi
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else
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echo "INFO [init] ign gazebo already running world: $gz_world"
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PX4_GZ_WORLD=$gz_world
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echo "INFO [init] gazebo already running world: ${gz_world}"
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PX4_GZ_WORLD=${gz_world}
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fi
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
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# start gz_bridge
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if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
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# model specified, gz_bridge will spawn model
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_MODEL_POSE ]; then
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if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
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# Clean potential input line formatting.
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model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
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else
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echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
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model_pose="0,0,0,0,0,0"
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fi
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# start gz bridge with pose arg.
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if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
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elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
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# model name specificed, gz_bridge will attach to existing model
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if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
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elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
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echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
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if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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else
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echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
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echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
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exit 1
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fi
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@@ -131,13 +120,13 @@ else
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echo "PX4 SIM HOST: localhost"
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simulator_mavlink start -c $simulator_tcp_port
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
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simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
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echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
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simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
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fi
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
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simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
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echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
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simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
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fi
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fi
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