mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
48 lines
942 B
Bash
Executable File
48 lines
942 B
Bash
Executable File
#!/usr/bin/env bash
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set -e
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if [ "$#" -lt 4 ]; then
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echo usage: sitl_run.sh sitl_bin model src_path build_path
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exit 1
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fi
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sitl_bin="$1"
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model="$2"
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src_path="$3"
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build_path="$4"
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echo SITL ARGS
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echo sitl_bin: $sitl_bin
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echo model: $model
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echo src_path: $src_path
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echo build_path: $build_path
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rootfs="$build_path/rootfs" # this is the working directory
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mkdir -p "$rootfs"
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export PX4_SIM_MODEL=${model}
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echo "FG setup"
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cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"
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./FG_run.py models/${model}.json 0
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"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
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FG_BRIDGE_PID=$!
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pushd "$rootfs" >/dev/null
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# Do not exit on failure now from here on because we want the complete cleanup
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set +e
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sitl_command="\"$sitl_bin\" \"$build_path\"/etc"
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echo SITL COMMAND: $sitl_command
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eval $sitl_command
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popd >/dev/null
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kill $FG_BRIDGE_PID
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kill -9 `cat /tmp/px4fgfspid_0`
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