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)
97 lines
1.9 KiB
Bash
Executable File
97 lines
1.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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if [ "$#" -lt 5 ]; then
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echo usage: sitl_run.sh sitl_bin model world src_path build_path
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exit 1
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fi
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if [[ -n "$DONT_RUN" ]]; then
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echo "Not running simulation (DONT_RUN is set)."
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exit 0
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fi
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sitl_bin="$1"
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model="$2"
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world="$3"
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src_path="$4"
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build_path="$5"
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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 world: $world
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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 "$rootfs"
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# To disable user input
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if [[ -n "$NO_PXH" ]]; then
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no_pxh=-d
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else
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no_pxh=""
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fi
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export PX4_SIM_MODEL=${model}
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export PX4_SIM_WORLD=${world}
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# This is needed for aircraft namespace mapping
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# Need more architectural discussions to make this more scalable
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case "$model" in
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rascal)
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MODEL_NAME="Rascal110-JSBSim"
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;;
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malolo)
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MODEL_NAME="Malolo1"
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;;
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quadrotor_x)
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MODEL_NAME="quadrotor_x"
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;;
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hexarotor_x)
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MODEL_NAME="hexarotor_x"
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;;
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*)
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echo "Unknown Model"
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exit 1
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esac
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export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
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if [[ -n "$HEADLESS" ]]; then
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echo "not running flightgear gui"
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else
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export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"
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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" ${model} -s "${src_path}/Tools/simulation/jsbsim/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
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JSBSIM_PID=$!
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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\" $no_pxh \"$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 $JSBSIM_PID
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kill $FGFS_PID
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