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Multi-Vehicle Ignition Gazebo Simulation (#20154)

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This commit is contained in:
Benjamin Perseghetti
2022-09-04 21:10:29 -04:00
committed by GitHub
parent 7bbdc220f5
commit a56f654651
54 changed files with 727 additions and 18221 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
-80
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@@ -1,80 +0,0 @@
#!/bin/sh
#
# @name Ignition Gazebo X4
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY -0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX 0.00
param set-default CA_ROTOR1_PY -0.29
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0.00
param set-default CA_ROTOR4_PY 0.29
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX 0.25
param set-default CA_ROTOR5_PY 0.15
param set-default CA_ROTOR5_KM -0.05
param set-default SIM_IGN_FUNC1 101
param set-default SIM_IGN_FUNC2 102
param set-default SIM_IGN_FUNC3 103
param set-default SIM_IGN_FUNC4 104
param set-default SIM_IGN_FUNC5 105
param set-default SIM_IGN_FUNC6 106
param set-default SIM_IGN_MIN1 150
param set-default SIM_IGN_MIN2 150
param set-default SIM_IGN_MIN3 150
param set-default SIM_IGN_MIN4 150
param set-default SIM_IGN_MIN5 150
param set-default SIM_IGN_MIN6 150
param set-default SIM_IGN_MAX1 1000
param set-default SIM_IGN_MAX2 1000
param set-default SIM_IGN_MAX3 1000
param set-default SIM_IGN_MAX4 1000
param set-default SIM_IGN_MAX5 1000
param set-default SIM_IGN_MAX6 1000
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_I 0.2500
param set-default MC_PITCHRATE_P 0.1831
param set-default MC_PITCH_P 5.216
param set-default MC_ROLLRATE_D 0.0022
param set-default MC_ROLLRATE_I 0.2095
param set-default MC_ROLLRATE_P 0.1570
param set-default MC_ROLL_P 6.081
param set-default MC_YAWRATE_D 0.0009
param set-default MC_YAWRATE_I 0.1800
param set-default MC_YAWRATE_P 0.1773
param set-default MC_YAW_P 5.386490
param set-default MPC_THR_HOVER 0.61
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
-1
View File
@@ -79,7 +79,6 @@ px4_add_romfs_files(
17002_tf-g2
2507_cloudship
6001_x4
6011_typhoon_h480
6011_typhoon_h480.post
)
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+32 -8
View File
@@ -20,7 +20,10 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
. ../gazebo_env.sh
fi
if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
if [ -z $ign_world ]; then
# starting ign gazebo with ${PX4_SIM_WORLD} world
echo "INFO [init] starting ign gazebo"
@@ -31,16 +34,37 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
fi
else
echo "INFO [init] ign gazebo already running"
echo "INFO [init] ign gazebo already running world: $ign_world"
PX4_SIM_WORLD=$ign_world
fi
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
if [ -z $PX4_IGN_MODEL_POSE ]; then
# start ignition bridge without pose arg.
echo "WARN [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
# Clean potential input line formatting.
model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
# start ignition bridge with pose arg.
if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
fi
else