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sitl_run.sh: cleanup, kill jmavsim only if $program == jmavsim

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This commit is contained in:
Beat Küng
2020-09-15 09:30:16 +02:00
parent 055fa768d8
commit d5b8f6cdf9
1 changed files with 4 additions and 4 deletions
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Tools/sitl_run.sh
+4 -4
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@@ -49,7 +49,7 @@ else
verbose="" verbose=""
fi fi
if [ "$model" != none ]; then if [ "$program" == "jmavsim" ]; then
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'` jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
if [ -n "$jmavsim_pid" ]; then if [ -n "$jmavsim_pid" ]; then
kill $jmavsim_pid kill $jmavsim_pid
@@ -84,7 +84,7 @@ SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
# Start Java simulator # Start Java simulator
"$src_path"/Tools/jmavsim_run.sh -r 250 -l & "$src_path"/Tools/jmavsim_run.sh -r 250 -l &
SIM_PID=`echo $!` SIM_PID=$!
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
if [ -x "$(command -v gazebo)" ]; then if [ -x "$(command -v gazebo)" ]; then
# Get the model name # Get the model name
@@ -134,7 +134,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
# is putting it into the background we need to avoid it by backing off # is putting it into the background we need to avoid it by backing off
sleep 3 sleep 3
nice -n 20 gzclient --verbose & nice -n 20 gzclient --verbose &
GUI_PID=`echo $!` GUI_PID=$!
fi fi
else else
echo "You need to have gazebo simulator installed!" echo "You need to have gazebo simulator installed!"
@@ -145,7 +145,7 @@ elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
cd "${src_path}/Tools/flightgear_bridge/" cd "${src_path}/Tools/flightgear_bridge/"
"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0 "${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` & "${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
FG_BRIDGE_PID=`echo $!` FG_BRIDGE_PID=$!
fi fi
pushd "$rootfs" >/dev/null pushd "$rootfs" >/dev/null