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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/px4-rc.simulator
+32 -8
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@@ -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