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new Ignition Gazebo simulation interface architecture (#20057)

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- 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
platforms/posix/Debug/launch_sim.json.in
+3 -11
View File
@@ -145,18 +145,10 @@
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
"x3",
"x4"
],
"default": "iris"
"default": "x3"
}
]
}
platforms/posix/cmake/sitl_target.cmake
+18 -18
View File
@@ -53,7 +53,7 @@ if(parallel_jobs LESS 1)
endif()
message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
Limiting sitl_gazebo and simulation-ignition concurrent jobs to ${parallel_jobs}")
Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
# project to build sitl_gazebo if necessary
px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
@@ -73,20 +73,6 @@ ExternalProject_Add(sitl_gazebo
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)
px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
ExternalProject_Add(simulation-ignition
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
INSTALL_COMMAND ""
DEPENDS git_ign_gazebo
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)
ExternalProject_Add(mavsdk_tests
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@@ -129,7 +115,6 @@ set(viewers
none
jmavsim
gazebo
ignition
)
set(debuggers
@@ -218,8 +203,6 @@ foreach(viewer ${viewers})
add_dependencies(${_targ_name} px4 sitl_gazebo)
elseif(viewer STREQUAL "jmavsim")
add_dependencies(${_targ_name} px4 git_jmavsim)
elseif(viewer STREQUAL "ignition")
add_dependencies(${_targ_name} px4 simulation-ignition)
endif()
else()
if(viewer STREQUAL "gazebo")
@@ -409,6 +392,23 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
endforeach()
endif()
# Ignition Gazebo
add_custom_target(ignition_x3
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x3 empty ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS logs_symlink
)
add_custom_target(ignition_x4
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x4 empty ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS logs_symlink
)
string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
add_custom_target(list_vmd_make_targets