mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-14 11:37:35 +08:00
Jaeyoung-Lim
123 lines
3.8 KiB
Bash
Executable File
123 lines
3.8 KiB
Bash
Executable File
#!/bin/bash
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# Run HITL simulation with PX4
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function cleanup() {
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pkill -x px4
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pkill gzclient
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pkill gzserver
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}
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if [ "$1" == "-h" ] || [ "$1" == "--help" ]
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then
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echo "Usage: $0 [-s <simulation>] [-m <vehicle_model>] [-w <world>] [-d <device>] [-b <baudrate>]"
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echo " This script allows you to run HITL simulation with PX4"
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exit 1
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fi
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while getopts m:w:s:d:b:t:l: option
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do
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case "${option}"
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in
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m) VEHICLE_MODEL=${OPTARG};;
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w) WORLD=${OPTARG};;
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s) SIMULATION=${OPTARG};;
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d) DEVICE=${OPTARG};;
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b) BAUDRATE=${OPTARG};;
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l) LABEL=_${OPTARG};;
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esac
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done
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world=${WORLD:=empty}
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target=${TARGET:=px4_sitl_default}
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model=${VEHICLE_MODEL:="iris"}
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simulation=${SIMULATION:="gazebo"}
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device=${DEVICE:="/dev/ttyACM0"}
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baudrate=${BAUDRATE:="921600"}
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export PX4_SIM_MODEL=${model}${LABEL}
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echo SIMULATION: ${simulation}
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echo MODEL: ${PX4_SIM_MODEL}
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echo ${SCRIPT}
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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src_path="$SCRIPT_DIR/.."
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sleep 1
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SIM_PID=0
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if [ "$simulation" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
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# Start Java simulator
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"$src_path"/Tools/jmavsim_run.sh -q -s -d ${device} -b ${baudrate} -r 250 &
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SIM_PID=$!
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elif [ "$simulation" == "gazebo" ] && [ ! -n "$no_sim" ]; then
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if [ -x "$(command -v gazebo)" ]; then
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# Set the plugin path so Gazebo finds our model and sim
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source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
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output_sdf=/tmp/${model}_hitl.sdf
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python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf.jinja ${src_path}/Tools/sitl_gazebo --serial_enabled 1 --hil_mode 1 --serial_device ${device} --serial_baudrate ${baudrate} --mavlink_id 1 --output-file ${output_sdf}
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if [ -z $PX4_SITL_WORLD ]; then
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#Spawn predefined world
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if [ "$world" == "none" ]; then
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
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echo "empty world, default world ${model}.world for model found"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
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else
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echo "empty world, setting empty.world as default"
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world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
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fi
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else
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#Spawn empty world if world with model name doesn't exist
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
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fi
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else
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if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
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# Spawn world by name if exists in the worlds directory from environment variable
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world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
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else
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# Spawn world from environment variable with absolute path
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world_path="$PX4_SITL_WORLD"
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fi
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fi
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gzserver $verbose $world_path &
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SIM_PID=$!
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while gz model --verbose --spawn-file="${output_sdf}" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
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echo "gzserver not ready yet, trying again!"
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sleep 1
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done
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if [[ -n "$HEADLESS" ]]; then
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echo "not running gazebo gui"
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else
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# gzserver needs to be running to avoid a race. Since the launch
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# is putting it into the background we need to avoid it by backing off
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sleep 3
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nice -n 20 gzclient --verbose $follow_mode
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GUI_PID=$!
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fi
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else
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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elif [ "$simulation" == "jsbsim" ] && [ -z "$no_sim" ]; then
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source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
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if [[ -n "$HEADLESS" ]]; then
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echo "not running flightgear gui"
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else
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fgfs --fdm=null \
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--native-fdm=socket,in,60,,5550,udp \
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--aircraft=$JSBSIM_AIRCRAFT_MODEL \
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--airport=${world} \
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--disable-hud \
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--disable-ai-models &> /dev/null &
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FGFS_PID=$!
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fi
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"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -d ${device} -b ${baudrate} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml"
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SIM_PID=$!
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fi
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trap "cleanup" SIGINT SIGTERM EXIT
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