Improvements to SITL to make paths more flexible. (#5181) (#5255)

* Path cleanup for SITL.

* Restructured sitl scripts dir.

* Set integration tests to use ekf2 for vtol.

* Fix sitl paths for mac.

Tools/setup_gazebo.bash

@@ -0,0 +1,28 @@
+#!/bin/bash
+#
+# Setup environment to make PX4 visible to Gazebo.
+#
+# Note, this is not necessary if using a ROS catkin workspace with the px4
+# package as the paths are exported.
+#
+# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
+
+if [ "$#" != 2 ]
+then
+    echo usage: source setup_gazebo.bash src_dir build_dir
+    echo ""
+    return 1
+fi
+
+SRC_DIR=$1
+BUILD_DIR=$2
+
+# setup Gazebo env and update package path
+export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
+# Disabling the remote model download seems only necessary with Gazebo 6
+#export GAZEBO_MODEL_DATABASE_URI=""
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo
+echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
+echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
+echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

Tools/sitl_run.sh

@@ -1,22 +1,29 @@
 #!/bin/bash
 
-rc_script=$1
-debugger=$2
-program=$3
-model=$4
-build_path=$5
-curr_dir=`pwd`
+set -e
+
+echo args: $@
+
+sitl_bin=$1
+label=$2
+debugger=$3
+program=$4
+model=$5
+src_path=$6
+build_path=$7
 
 echo SITL ARGS
-echo rc_script: $rc_script
+
+echo sitl_bin: $sitl_bin
+echo label: $label
 echo debugger: $debugger
 echo program: $program
 echo model: $model
+echo src_path: $src_path
 echo build_path: $build_path
 
-mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
-mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
-touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
+working_dir=`pwd`
+sitl_bin=$build_path/src/firmware/posix/px4
 
 if [ "$chroot" == "1" ]
 then
@@ -35,32 +42,29 @@ fi
 
 if [ "$#" -lt 5 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model build_path
+	echo usage: sitl_run.sh rc_script debugger program model devel_path
 	echo ""
 	exit 1
 fi
 
 # kill process names that might stil
 # be running from last time
-pkill gazebo
-pkill px4
+pgrep gazebo && pkill gazebo
+pgrep px4 && pkill px4
 jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
 fi
 
-set -e
-
-cd $build_path/..
-cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
-cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
+cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
+cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
 
 SIM_PID=0
 
 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
-	cd Tools/jMAVSim
+	cd $src_path/Tools/jMAVSim
 	ant create_run_jar copy_res
 	cd out/production
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -71,15 +75,9 @@ then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		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
-		make --no-print-directory gazebo_build
+		source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
 
-		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
+		gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`
 
 		if [[ -n "$HEADLESS" ]]; then
@@ -98,37 +96,41 @@ then
 	# This is not a simulator, but a log file to replay
 
 	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
+	if ! [ -f "$rootfs/replay_params.txt" ]
 		then
-		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
+		touch $rootfs/replay_params.txt
 	fi
 fi
 
-cd $build_path/src/firmware/posix
+cd $working_dir
 
 if [ "$logfile" != "" ]
 then
-	cp $logfile rootfs/replay.px4log
+	cp $logfile $rootfs/replay.px4log
 fi
 
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
+sitl_command="$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${label}/${model}"
+
+echo SITL COMMAND: $sitl_command
+
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- px4 ../../../../${rc_script}_${program}_${model}
+	lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	gdb --args $sitl_command
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
+	ddd --debugger gdb --args $sitl_command
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
+	valgrind $sitl_command
 else
-	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
+	$sitl_command
 fi
 
 if [ "$program" == "jmavsim" ]