mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
sim: refactor startup scripts and fix gz sim standalone (#24600)
* sim: refactor px4-rc.simulator into sim specific startup scripts. Fix gz sim for standalone mode. * shellcheck disable=SC2154
This commit is contained in:
Jacob Dahl
GitHub
parent
c2706f5406
commit
9e8b530ad9
@ -35,8 +35,11 @@ add_subdirectory(airframes)
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px4_add_romfs_files(
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px4-rc.mavlink
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px4-rc.params
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px4-rc.simulator
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px4-rc.gzsim
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px4-rc.jmavsim
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px4-rc.mavlinksim
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px4-rc.sihsim
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rc.replay
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rcS
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)
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180
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
Normal file
180
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
Normal file
@ -0,0 +1,180 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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echo "INFO [init] Gazebo simulator"
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# Enforce minimum gz version as Harmonic (gz-sim8)
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MIN_GZ_VERSION="8.0.0"
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GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
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if [ -z "$GZ_SIM_VERSION" ]; then
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echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
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exit 1
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fi
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# Use sort compare, check that MIN_GZ_VERSION is ordered last
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if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
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gz_command="gz"
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gz_sub_command="sim"
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# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
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# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
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if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
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echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
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gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
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fi
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else
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echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
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exit 1
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fi
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# If not standalone
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if [ -z "${PX4_GZ_STANDALONE}" ]; then
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# Look for an already running world
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gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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# shellcheck disable=SC2153
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if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
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# Setup gz environment variables
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if [ -f ./gz_env.sh ]; then
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. ./gz_env.sh
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elif [ -f ../gz_env.sh ]; then
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. ../gz_env.sh
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fi
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echo "INFO [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
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${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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if [ -z "${HEADLESS}" ]; then
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echo "INFO [init] Starting gz gui"
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${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
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fi
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else
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# Gazebo is already running
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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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else
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echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
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fi
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# Wait for Gazebo world to be ready before proceeding
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check_scene_info() {
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SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
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if echo "$SERVICE_INFO" | grep -q "Service providers"; then
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return 0
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else
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return 1
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fi
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}
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ATTEMPTS=30
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while [ $ATTEMPTS -gt 0 ]; do
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if check_scene_info; then
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echo "INFO [init] Gazebo world is ready"
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break
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fi
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ATTEMPTS=$((ATTEMPTS-1))
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if [ $ATTEMPTS -eq 0 ]; then
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echo "ERROR [init] Timed out waiting for Gazebo world"
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exit 1
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fi
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echo "INFO [init] Waiting for Gazebo world..."
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sleep 1
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done
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# Start gz_bridge - either spawn a model or connect to existing one
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if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
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# Spawn a model
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MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
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MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
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POSE_ARG=""
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if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
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pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
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pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
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pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
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pos_x=${pos_x:-0}
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pos_y=${pos_y:-0}
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pos_z=${pos_z:-0}
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POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
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echo "INFO [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
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fi
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echo "INFO [init] Spawning model"
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# Spawn model
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${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
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--reptype gz.msgs.Boolean --timeout 5000 \
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--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
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# Wait for model to spawn
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sleep 1
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# Start gz_bridge
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if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
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echo "ERROR [init] gz_bridge failed to start and spawn model"
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exit 1
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fi
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# Set physics parameters for faster-than-realtime simulation if needed
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if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
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echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
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${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
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--reptype gz.msgs.Boolean --timeout 5000 \
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--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
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fi
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# Set up camera to follow the model if requested
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if [ -n "${PX4_GZ_FOLLOW}" ]; then
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echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
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# Set camera to follow the model
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${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
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--reptype gz.msgs.Boolean --timeout 5000 \
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--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
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# Set default camera offset if not specified
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follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
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follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
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follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
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# Set camera offset
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${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
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--reptype gz.msgs.Boolean --timeout 5000 \
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--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
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echo "INFO [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
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fi
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elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
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# Connect to existing model
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echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
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if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
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echo "ERROR [init] gz_bridge failed to start and attach to existing model"
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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 either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
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exit 1
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fi
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# NOTE: Only for rover_mecanum and spacecraft_2d. All other models have
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# the magnetometer sensor in the model.sdf.
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if param compare -s SENS_EN_MAGSIM 1
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then
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sensor_mag_sim start
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fi
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# NOTE: new gz has airspeed sensor, remove once added
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if param compare -s SENS_EN_ARSPDSIM 1
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then
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sensor_airspeed_sim start
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fi
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14
ROMFS/px4fmu_common/init.d-posix/px4-rc.jmavsim
Normal file
14
ROMFS/px4fmu_common/init.d-posix/px4-rc.jmavsim
Normal file
@ -0,0 +1,14 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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echo "INFO [init] jMAVSim simulator"
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if jps | grep -i jmavsim; then
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kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
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sleep 1
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fi
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param set IMU_INTEG_RATE 250
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./jmavsim_run.sh -l -r 250 &
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simulator_mavlink start -h localhost $((4560+px4_instance))
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27
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
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27
ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlinksim
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@ -0,0 +1,27 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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# EKF2 specifics
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param set-default EKF2_GPS_DELAY 10
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param set-default EKF2_MULTI_IMU 3
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param set-default SENS_IMU_MODE 0
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simulator_tcp_port=$((4560+px4_instance))
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# Check if PX4_SIM_HOSTNAME environment variable is empty
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# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
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# If both are empty use localhost for simulator
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if [ -z "${PX4_SIM_HOSTNAME}" ]; then
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if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
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echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
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simulator_mavlink start -c $simulator_tcp_port
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else
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echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
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simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
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fi
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else
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echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
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simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
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fi
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@ -1,5 +0,0 @@
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#!/bin/sh
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# shellcheck disable=SC2154
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#param set-default MAV_SYS_ID $((px4_instance+1))
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#param set-default IMU_INTEG_RATE 250
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38
ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim
Normal file
38
ROMFS/px4fmu_common/init.d-posix/px4-rc.sihsim
Normal file
@ -0,0 +1,38 @@
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#!/bin/sh
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echo "INFO [init] SIH simulator"
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if [ -n "${PX4_HOME_LAT}" ]; then
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param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
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fi
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if [ -n "${PX4_HOME_LON}" ]; then
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param set SIH_LOC_LON0 ${PX4_HOME_LON}
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fi
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if [ -n "${PX4_HOME_ALT}" ]; then
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param set SIH_LOC_H0 ${PX4_HOME_ALT}
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fi
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if simulator_sih start; then
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if param compare -s SENS_EN_BAROSIM 1
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then
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sensor_baro_sim start
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fi
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if param compare -s SENS_EN_GPSSIM 1
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then
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sensor_gps_sim start
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fi
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if param compare -s SENS_EN_MAGSIM 1
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then
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sensor_mag_sim start
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fi
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if param compare -s SENS_EN_AGPSIM 1
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then
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sensor_agp_sim start
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fi
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else
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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@ -8,272 +8,18 @@ param set-default IMU_INTEG_RATE 250
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param set-default COM_MODE_ARM_CHK 1
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if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
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echo "INFO [init] SIH simulator"
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if [ -n "${PX4_HOME_LAT}" ]; then
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param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
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fi
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if [ -n "${PX4_HOME_LON}" ]; then
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param set SIH_LOC_LON0 ${PX4_HOME_LON}
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fi
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if [ -n "${PX4_HOME_ALT}" ]; then
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param set SIH_LOC_H0 ${PX4_HOME_ALT}
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fi
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if simulator_sih start; then
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if param compare -s SENS_EN_BAROSIM 1
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then
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sensor_baro_sim start
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fi
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if param compare -s SENS_EN_GPSSIM 1
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then
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sensor_gps_sim start
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fi
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if param compare -s SENS_EN_MAGSIM 1
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then
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sensor_mag_sim start
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fi
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if param compare -s SENS_EN_AGPSIM 1
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then
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sensor_agp_sim start
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fi
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else
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echo "ERROR [init] simulator_sih failed to start"
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exit 1
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fi
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# Run SIH
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. px4-rc.sihsim
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elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
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echo "INFO [init] Gazebo simulator"
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if [ -z "${PX4_GZ_STANDALONE}" ]; then
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# Enforce minimum gz version as Harmonic (gz-sim8)
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MIN_GZ_VERSION="8.0.0"
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GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
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if [ -z "$GZ_SIM_VERSION" ]; then
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echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
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exit 1
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fi
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# Use sort compare, check that MIN_GZ_VERSION is ordered last
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if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)" = "$MIN_GZ_VERSION" ]; then
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gz_command="gz"
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gz_sub_command="sim"
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# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
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# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
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if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
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echo "INFO [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
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gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
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fi
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else
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echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
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exit 1
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fi
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# Look for an already running world
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gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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# shellcheck disable=SC2153
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if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
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# Setup gz environment variables
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if [ -f ./gz_env.sh ]; then
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. ./gz_env.sh
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elif [ -f ../gz_env.sh ]; then
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. ../gz_env.sh
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fi
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echo "INFO [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
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${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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if [ -z "${HEADLESS}" ]; then
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echo "INFO [init] Starting gz gui"
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${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
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fi
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# Wait for Gazebo world to be ready before proceeding
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check_scene_info() {
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SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
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if echo "$SERVICE_INFO" | grep -q "Service providers"; then
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return 0
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else
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return 1
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fi
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}
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ATTEMPTS=30
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while [ $ATTEMPTS -gt 0 ]; do
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if check_scene_info; then
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echo "INFO [init] Gazebo world is ready"
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break
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fi
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ATTEMPTS=$((ATTEMPTS-1))
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if [ $ATTEMPTS -eq 0 ]; then
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echo "ERROR [init] Timed out waiting for Gazebo world"
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exit 1
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fi
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echo "INFO [init] Waiting for Gazebo world..."
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sleep 1
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done
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else
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# Gazebo is already running
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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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else
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echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
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fi
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# Start gz_bridge - either spawn a model or connect to existing one
|
||||
if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# Spawn a model
|
||||
MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
|
||||
MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"
|
||||
|
||||
POSE_ARG=""
|
||||
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
|
||||
pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
|
||||
pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
|
||||
pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
|
||||
pos_x=${pos_x:-0}
|
||||
pos_y=${pos_y:-0}
|
||||
pos_z=${pos_z:-0}
|
||||
|
||||
POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
|
||||
echo "INFO [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
|
||||
fi
|
||||
|
||||
echo "INFO [init] Spawning model"
|
||||
|
||||
# Spawn model
|
||||
${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
|
||||
|
||||
# Wait for model to spawn
|
||||
sleep 1
|
||||
|
||||
# Start gz_bridge
|
||||
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and spawn model"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Set physics parameters for faster-than-realtime simulation if needed
|
||||
if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
|
||||
echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
|
||||
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
|
||||
fi
|
||||
|
||||
# Set up camera to follow the model if requested
|
||||
if [ -n "${PX4_GZ_FOLLOW}" ]; then
|
||||
|
||||
echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
|
||||
|
||||
# Set camera to follow the model
|
||||
${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
|
||||
|
||||
# Set default camera offset if not specified
|
||||
follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
|
||||
follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
|
||||
follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
|
||||
|
||||
# Set camera offset
|
||||
${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
|
||||
--reptype gz.msgs.Boolean --timeout 5000 \
|
||||
--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
|
||||
|
||||
echo "INFO [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
|
||||
fi
|
||||
|
||||
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# Connect to existing model
|
||||
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
|
||||
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${PX4_GZ_MODEL_NAME}"; then
|
||||
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
|
||||
exit 1
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] failed to pass either PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
|
||||
exit 1
|
||||
fi
|
||||
# Start the sensor simulator modules
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_AGPSIM 1
|
||||
then
|
||||
sensor_agp_sim start
|
||||
fi
|
||||
# Run Gazebo (gz)
|
||||
. px4-rc.gzsim
|
||||
|
||||
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
|
||||
|
||||
echo "INFO [init] jMAVSim simulator"
|
||||
|
||||
if jps | grep -i jmavsim; then
|
||||
kill "$(jps | grep -i jmavsim | awk '{print $1}')" || true
|
||||
sleep 1
|
||||
fi
|
||||
|
||||
param set IMU_INTEG_RATE 250
|
||||
./jmavsim_run.sh -l -r 250 &
|
||||
|
||||
simulator_mavlink start -h localhost $((4560+px4_instance))
|
||||
# Run jMAVSim
|
||||
. px4-rc.jmavsim
|
||||
|
||||
else
|
||||
# otherwise start simulator (mavlink) module
|
||||
|
||||
# EKF2 specifics
|
||||
param set-default EKF2_GPS_DELAY 10
|
||||
param set-default EKF2_MULTI_IMU 3
|
||||
param set-default SENS_IMU_MODE 0
|
||||
|
||||
simulator_tcp_port=$((4560+px4_instance))
|
||||
|
||||
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
||||
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
||||
# If both are empty use localhost for simulator
|
||||
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
||||
|
||||
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
# Run simulator_mavlink module for interface with gazebo-classic
|
||||
. px4-rc.mavlinksim
|
||||
fi
|
||||
|
||||
@ -227,9 +227,6 @@ then
|
||||
exit 1
|
||||
fi
|
||||
|
||||
#user defined params for instances can be in PATH
|
||||
. px4-rc.params
|
||||
|
||||
dataman start
|
||||
|
||||
# only start the simulator if not in replay mode, as both control the lockstep time
|
||||
|
||||
@ -1 +1 @@
|
||||
Subproject commit 6c18846a4c7f9fe786840a29bf4e3237f908611b
|
||||
Subproject commit 6caa6d54fa95b0141c9974bbd836b0f6fe0f26ee
|
||||
Loading…
x
Reference in New Issue
Block a user