mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 00:23:34 +08:00
Daniel AgarandJaeyoung-Lim
cfc579542e
- much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
44 lines
1.2 KiB
Bash
44 lines
1.2 KiB
Bash
#!/bin/sh
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# shellcheck disable=SC2154
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PX4_SIM_WORLD="${PX4_SIM_WORLD:="empty"}" # default to empty world?
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echo "PX4_SIM_MODEL: ${PX4_SIM_MODEL}"
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echo "PX4_SIM_WORLD: ${PX4_SIM_WORLD}"
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# TODO: verify if world exists
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ign service --info --service /world/${PX4_SIM_WORLD}/create
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echo $?
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ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
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if ignition_simulator start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"
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then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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simulator_tcp_port=$((4560+px4_instance))
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# Check if PX4_SIM_HOSTNAME environment variable is empty
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# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
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# If both are empty use localhost for simulator
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if [ -z "${PX4_SIM_HOSTNAME}" ]; then
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if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
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echo "PX4 SIM HOST: localhost"
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simulator start -c $simulator_tcp_port
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
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simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
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fi
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
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simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
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fi
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fi
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