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run tests in posix sitl with gazebo

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This commit is contained in:
Daniel Agar
2016-05-13 13:01:42 +02:00
committed by Lorenz Meier
parent d85e7732b4
commit d804f5727e
5 changed files with 67 additions and 18 deletions
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Tools/sitl_run.sh
+17 -13
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@@ -58,7 +58,7 @@ cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
cd Tools/jMAVSim
ant create_run_jar copy_res
@@ -66,31 +66,33 @@ then
java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
SIM_PID=`echo $!`
cd ../..
elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
export GAZEBO_PLUGIN_PATH=$curr_dir/Tools/sitl_gazebo/Build:${GAZEBO_PLUGIN_PATH}
export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
# Set the model path so Gazebo finds the airframes
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
# export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
mkdir -p Tools/sitl_gazebo/Build
cd Tools/sitl_gazebo/Build
cmake -Wno-dev ..
make -j4
make sdf
gzserver --verbose ../worlds/${model}.world &
make --no-print-directory gazebo_build
gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
gzclient --verbose &
GUI_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
gzclient --verbose &
GUI_PID=`echo $!`
fi
else
echo "You need to have gazebo simulator installed!"
exit 1
fi
elif [ "$program" == "replay" ] && [ "$no_sim" == "" ]
elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
then
echo "Replaying logfile: $logfile"
# This is not a simulator, but a log file to replay
@@ -135,5 +137,7 @@ then
elif [ "$program" == "gazebo" ]
then
kill -9 $SIM_PID
kill -9 $GUI_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
fi
fi