mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 19:03:35 +08:00
93 lines
2.6 KiB
Bash
93 lines
2.6 KiB
Bash
#!/bin/sh
|
|
# shellcheck disable=SC2154
|
|
|
|
# Simulator IMU data provided at 250 Hz
|
|
param set-default IMU_INTEG_RATE 250
|
|
|
|
if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0" ]; then
|
|
|
|
if ! simulator_sih start; then
|
|
echo "ERROR [init] simulator_sih failed to start"
|
|
exit 1
|
|
fi
|
|
|
|
elif [ "$PX4_SIMULATOR" = "ignition" ]; then
|
|
|
|
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
|
if [ -f gazebo_env.sh ]; then
|
|
. ./gazebo_env.sh
|
|
elif [ -f ../gazebo_env.sh ]; then
|
|
. ../gazebo_env.sh
|
|
fi
|
|
|
|
ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
|
|
|
if [ -z $ign_world ]; then
|
|
|
|
# starting ign gazebo with ${PX4_SIM_WORLD} world
|
|
echo "INFO [init] starting ign gazebo"
|
|
|
|
if [ -z $HEADLESS ]; then
|
|
ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
|
|
else
|
|
# starting ign gazebo headless
|
|
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
|
|
fi
|
|
else
|
|
echo "INFO [init] ign gazebo already running world: $ign_world"
|
|
PX4_SIM_WORLD=$ign_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 "${PX4_SIM_WORLD}"; then
|
|
sensor_baro_sim start
|
|
sensor_gps_sim start
|
|
sensor_mag_sim start
|
|
else
|
|
echo "ERROR [init] ign gazebo failed to start"
|
|
exit 1
|
|
fi
|
|
else
|
|
|
|
# Clean potential input line formatting.
|
|
model_pose="$( 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
|
|
|
|
fi
|
|
|
|
else
|
|
# otherwise start simulator (mavlink) module
|
|
simulator_tcp_port=$((4560+px4_instance))
|
|
|
|
# Check if PX4_SIM_HOSTNAME environment variable is empty
|
|
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
|
|
# If both are empty use localhost for simulator
|
|
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
|
|
|
|
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
|
|
echo "PX4 SIM HOST: localhost"
|
|
simulator_mavlink start -c $simulator_tcp_port
|
|
else
|
|
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
|
simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
|
fi
|
|
|
|
else
|
|
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
|
simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
|
fi
|
|
|
|
fi
|