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merge px4_sitl_ign into px4_sitl_default (#20188)

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- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
 - simulator_ignition_bridge only try setting the system clock in
lockstep builds
 - this simplifies usage and CI system dependencies
This commit is contained in:
Daniel Agar
2022-09-10 16:18:02 -04:00
committed by GitHub
parent 34d8bd7988
commit b8fb5dfa51
11 changed files with 162 additions and 230 deletions
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platforms/posix/CMakeLists.txt
+1 -4
View File
@@ -113,11 +113,8 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
if(${PX4_BOARD_LABEL} MATCHES "replay")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
elseif(${PX4_CONFIG} MATCHES "px4_sitl_ign")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_ignition.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
else()
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_default.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
endif()
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)
platforms/posix/Debug/launch_sitl_default.json.in → platforms/posix/Debug/launch_sitl.json.in
+53 -16
View File
@@ -1,6 +1,51 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "SITL (Ignition Gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_IGN_GZ_SIM_MODEL}"
}
],
"externalConsole": false,
"postDebugTask": "ign gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
},
{
"name": "SITL (sihsim 10040_quadx)",
"type": "cppdbg",
@@ -46,7 +91,7 @@
}
},
{
"name": "SITL (Gazebo Classic)",
"name": "SITL (Gazebo Classic iris)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
@@ -58,7 +103,7 @@
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_SIM_MODEL}"
"value": "iris"
}
],
"externalConsole": false,
@@ -106,6 +151,7 @@
"value": "iris"
}
],
"externalConsole": false,
"preLaunchTask": "jmavsim",
"postDebugTask": "jmavsim kill",
"linux": {
@@ -180,21 +226,12 @@
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"id": "PX4_IGN_GZ_SIM_MODEL",
"description": "Ignition Gazebo vehicle model",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
"x500",
],
"default": "iris"
}
"default": "x500"
}
]
}
platforms/posix/Debug/launch_sitl_ignition.json.in
-63
View File
@@ -1,63 +0,0 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "SITL (Ignition Gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_SIM_MODEL}"
}
],
"externalConsole": false,
"preLaunchTask": "ign gazebo",
"postDebugTask": "ign gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
}
],
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"x500",
"x4"
],
"default": "x500"
}
]
}