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Gazebo Simulation Enablement (#20319)

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This commit is contained in:
Benjamin Perseghetti
2022-09-29 13:49:31 -04:00
committed by GitHub
parent f89df9d986
commit f9522e831c
48 changed files with 269 additions and 2269 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+58 -27
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@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
exit 1
fi
elif [ "$PX4_SIMULATOR" = "ignition" ]; then
elif [ "$PX4_SIMULATOR" = "gz" ]; then
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
if [ -f gazebo_env.sh ]; then
@@ -26,28 +26,52 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
. ../gazebo_env.sh
fi
ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2236
if [ ! -z $PX4_GZ_VERBOSE ]; then
if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
gz_verbose=$PX4_GZ_VERBOSE
else
gz_verbose=4
echo "WARN [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
fi
echo "INFO [init] PX4_GZ_VERBOSE set to $gz_verbose."
else
gz_verbose=1
echo "INFO [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
fi
if [ -z $ign_world ]; then
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# starting ign gazebo with ${PX4_SIM_WORLD} world
if [ -z $gz_world ]; then
# starting ign gazebo with ${PX4_GZ_WORLD} world
echo "INFO [init] starting ign gazebo"
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
# shellcheck disable=SC2153
ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z $HEADLESS ]; then
# HEADLESS not set, starting ign gazebo gui
ign gazebo -g &
fi
else
echo "INFO [init] ign gazebo already running world: $ign_world"
PX4_SIM_WORLD=$ign_world
echo "INFO [init] ign gazebo already running world: $gz_world"
PX4_GZ_WORLD=$gz_world
fi
if [ -z $PX4_IGN_MODEL_POSE ]; then
# start ignition bridge without pose arg.
echo "WARN [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
# shellcheck disable=SC2236
if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
# shellcheck disable=SC2236
if [ ! -z $PX4_GZ_MODEL_POSE ]; then
# Clean potential input line formatting.
model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
else
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
model_pose="0,0,0,0,0,0"
fi
# start gz bridge with pose arg.
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
@@ -55,22 +79,29 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
else
# Clean potential input line formatting.
model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
# start ignition bridge with pose arg.
if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
exit 1
fi
else