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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1079c57fd0
Add cmake/cpack infrastructure for building .deb packages from px4_sitl_sih and px4_sitl_default targets. Includes install rules, package scripts, Gazebo wrapper, and CI workflow. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
33 lines
1.6 KiB
Bash
33 lines
1.6 KiB
Bash
#!/usr/bin/env bash
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# px4-gazebo: Launch PX4 SITL with Gazebo from the installed .deb package
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set -e
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PX4_GAZEBO_DIR="$(cd "$(dirname "$(readlink -f "$0")")/.." && pwd)"
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PX4_BINARY="${PX4_GAZEBO_DIR}/bin/px4"
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# Set Gazebo resource paths so gz-sim finds PX4 models, worlds, and plugins.
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export PX4_GZ_MODELS="${PX4_GAZEBO_DIR}/share/gz/models"
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export PX4_GZ_WORLDS="${PX4_GAZEBO_DIR}/share/gz/worlds"
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export PX4_GZ_PLUGINS="${PX4_GAZEBO_DIR}/lib/gz/plugins"
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export PX4_GZ_SERVER_CONFIG="${PX4_GAZEBO_DIR}/share/gz/server.config"
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export GZ_SIM_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}:${PX4_GZ_MODELS}:${PX4_GZ_WORLDS}"
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export GZ_SIM_SYSTEM_PLUGIN_PATH="${GZ_SIM_SYSTEM_PLUGIN_PATH}:${PX4_GZ_PLUGINS}"
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export GZ_SIM_SERVER_CONFIG_PATH="${PX4_GZ_SERVER_CONFIG}"
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# Gazebo's Physics system searches for "gz-physics-dartsim-plugin" which maps
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# to the unversioned libgz-physics-dartsim-plugin.so. The runtime package only
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# ships versioned .so files; the unversioned symlink lives in the -dev package.
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# Create it if missing so Gazebo finds the DART engine without installing -dev.
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GZ_PHYSICS_ENGINE_DIR=$(find /usr/lib -maxdepth 3 -type d -name "engine-plugins" -path "*/gz-physics-7/*" 2>/dev/null | head -1)
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if [ -n "$GZ_PHYSICS_ENGINE_DIR" ] && [ -d "$GZ_PHYSICS_ENGINE_DIR" ]; then
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UNVERSIONED="$GZ_PHYSICS_ENGINE_DIR/libgz-physics-dartsim-plugin.so"
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if [ ! -e "$UNVERSIONED" ]; then
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VERSIONED=$(ls "$GZ_PHYSICS_ENGINE_DIR"/libgz-physics*-dartsim-plugin.so.* 2>/dev/null | head -1)
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if [ -n "$VERSIONED" ]; then
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ln -sf "$(basename "$VERSIONED")" "$UNVERSIONED" 2>/dev/null || true
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fi
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fi
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fi
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exec "${PX4_BINARY}" "$@"
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