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new Gazebo simulation handle older gz versions (#20342)

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This commit is contained in:
Benjamin Perseghetti
2022-10-02 21:30:30 -04:00
committed by GitHub
parent f4d2e176ae
commit aa2b47845a
25 changed files with 2102 additions and 1 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+14
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@@ -41,6 +41,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
fi
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
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
echo "INFO [init] using latest version of MultiCopterMotor plugin."
else
echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
if [ "$PX4_SIM_MODEL" = "x500" ]; then
PX4_SIM_MODEL="x500-Legacy"
echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
fi
fi
if [ -z $gz_world ]; then