fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 15:58:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

new Ignition Gazebo simulation interface architecture (#20057)

Browse Source 
- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
This commit is contained in:
Daniel Agar
2022-08-22 10:58:19 -04:00
committed by GitHub
co-authored by Jaeyoung-Lim
parent 889a2fddea
commit cfc579542e
58 changed files with 29260 additions and 220 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+37 -14
View File
@@ -1,20 +1,43 @@
#!/bin/sh
# shellcheck disable=SC2154
simulator_tcp_port=$((4560+px4_instance))
PX4_SIM_WORLD="${PX4_SIM_WORLD:="empty"}" # default to empty world?
echo "PX4_SIM_MODEL: ${PX4_SIM_MODEL}"
echo "PX4_SIM_WORLD: ${PX4_SIM_WORLD}"
# TODO: verify if world exists
ign service --info --service /world/${PX4_SIM_WORLD}/create
echo $?
ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
if ignition_simulator start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"
then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
# Check if PX4_SIM_HOSTNAME environment variable is empty
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
# If both are empty use localhost for simulator
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
simulator start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
fi
else
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
simulator_tcp_port=$((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 "PX4 SIM HOST: localhost"
simulator start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
fi
else
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
fi
fi