mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
9b29a9cd5d
sim_vehicle.sh code was modified to call the ROS/runsim.py file instead of the default /jsbsim/runsim.py. ROS/runsim.py uses roslaunch command to launch the last_letter simulator https://github.com/Georacer/last_letter, which should be cloned and compiled in the system. GIT_Success.txt file was modified to depict the author's current mindstate. The location LGAT (Former National Airport of Athens, now an unofficial model park) was added in the locations.txt file, since this is my base of operations and start for my missions.
378 lines
9.5 KiB
Bash
Executable File
378 lines
9.5 KiB
Bash
Executable File
#!/bin/bash
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# home location lat, lon, alt, heading
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LOCATION="CMAC"
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TRACKER_LOCATION="CMAC_PILOTSBOX"
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VEHICLE=""
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BUILD_TARGET="sitl"
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FRAME=""
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NUM_PROCS=1
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# check the instance number to allow for multiple copies of the sim running at once
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INSTANCE=0
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USE_VALGRIND=0
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USE_GDB=0
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USE_GDB_STOPPED=0
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USE_MAVLINK_GIMBAL=0
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CLEAN_BUILD=0
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START_ANTENNA_TRACKER=0
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WIPE_EEPROM=0
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REVERSE_THROTTLE=0
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NO_REBUILD=0
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START_HIL=0
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TRACKER_ARGS=""
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EXTERNAL_SIM=0
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usage()
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{
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cat <<EOF
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Usage: sim_vehicle.sh [options] [mavproxy_options]
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Options:
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-v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2)
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vehicle type defaults to working directory
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-I INSTANCE instance of simulator (default 0)
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-V enable valgrind for memory access checking (very slow!)
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-G use gdb for debugging ardupilot
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-g use gdb for debugging ardupilot, but don't auto-start
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-T start an antenna tracker instance
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-A pass arguments to antenna tracker
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-t set antenna tracker start location
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-L select start location from Tools/autotest/locations.txt
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-c do a make clean before building
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-N don't rebuild before starting ardupilot
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-w wipe EEPROM and reload parameters
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-R reverse throttle in plane
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-f FRAME set aircraft frame type
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for copters can choose +, X, quad or octa
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for planes can choose elevon or vtail
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-j NUM_PROC number of processors to use during build (default 1)
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-H start HIL
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-e use external simulator
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mavproxy_options:
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--map start with a map
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--console start with a status console
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--out DEST start MAVLink output to DEST
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Note:
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eeprom.bin in the starting directory contains the parameters for your
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simulated vehicle. Always start from the same directory. It is recommended that
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you start in the main vehicle directory for the vehicle you are simulating,
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for example, start in the ArduPlane directory to simulate ArduPlane
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EOF
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}
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# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
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while getopts ":I:VgGcj:TA:t:L:v:hwf:RNHeM" opt; do
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case $opt in
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v)
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VEHICLE=$OPTARG
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;;
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I)
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INSTANCE=$OPTARG
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;;
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V)
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USE_VALGRIND=1
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;;
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N)
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NO_REBUILD=1
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;;
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H)
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START_HIL=1
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NO_REBUILD=1
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;;
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T)
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START_ANTENNA_TRACKER=1
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;;
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A)
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TRACKER_ARGS="$OPTARG"
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;;
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R)
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REVERSE_THROTTLE=1
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;;
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G)
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USE_GDB=1
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;;
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M)
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USE_MAVLINK_GIMBAL=1
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;;
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g)
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USE_GDB=1
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USE_GDB_STOPPED=1
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;;
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L)
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LOCATION="$OPTARG"
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;;
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f)
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FRAME="$OPTARG"
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;;
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t)
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TRACKER_LOCATION="$OPTARG"
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;;
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c)
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CLEAN_BUILD=1
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;;
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j)
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NUM_PROCS=$OPTARG
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;;
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w)
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WIPE_EEPROM=1
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;;
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e)
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EXTERNAL_SIM=1
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;;
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h)
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usage
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exit 0
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;;
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\?)
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# allow other args to pass on to mavproxy
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break
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;;
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:)
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echo "Option -$OPTARG requires an argument." >&2
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usage
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exit 1
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esac
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done
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shift $((OPTIND-1))
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# kill existing copy if this is the '0' instance only
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kill_tasks()
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{
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[ "$INSTANCE" -eq "0" ] && {
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killall -q JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf
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pkill -f runsim.py
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pkill -f sim_tracker.py
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pkill -f sim_rover.py
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pkill -f sim_multicopter.py
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}
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}
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if [ $START_HIL == 0 ]; then
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kill_tasks
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fi
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trap kill_tasks SIGINT
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# setup ports for this instance
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MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
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SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
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SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
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FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
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set -x
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[ -z "$VEHICLE" ] && {
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VEHICLE=$(basename $PWD)
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}
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EXTRA_PARM=""
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EXTRA_SIM=""
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# modify build target based on copter frame type
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case $FRAME in
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+|quad)
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BUILD_TARGET="sitl"
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EXTRA_SIM="--frame=quad"
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;;
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X)
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BUILD_TARGET="sitl"
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EXTRA_PARM="param set FRAME 1;"
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EXTRA_SIM="--frame=X"
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;;
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octa)
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BUILD_TARGET="sitl-octa"
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EXTRA_SIM="--frame=octa"
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;;
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octa-quad)
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BUILD_TARGET="sitl-octa-quad"
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EXTRA_SIM="--frame=octa-quad"
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;;
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heli)
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BUILD_TARGET="sitl-heli"
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EXTRA_SIM="--frame=heli"
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;;
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elevon*)
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EXTRA_PARM="param set ELEVON_OUTPUT 4;"
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EXTRA_SIM="--elevon"
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;;
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vtail)
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EXTRA_PARM="param set VTAIL_OUTPUT 4;"
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EXTRA_SIM="--vtail"
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;;
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skid)
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EXTRA_SIM="--skid-steering"
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;;
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obc)
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BUILD_TARGET="sitl-obc"
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;;
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"")
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;;
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*)
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echo "Unknown frame type $FRAME"
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usage
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exit 1
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;;
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esac
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if [ $USE_MAVLINK_GIMBAL == 1 ]; then
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echo "Using MAVLink gimbal"
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EXTRA_SIM="--gimbal"
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fi
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autotest=$(dirname $(readlink -e $0))
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if [ $NO_REBUILD == 0 ]; then
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pushd $autotest/../../$VEHICLE || {
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echo "Failed to change to vehicle directory for $VEHICLE"
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usage
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exit 1
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}
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if [ ! -f $autotest/../../config.mk ]; then
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echo Generating a default configuration
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make configure
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fi
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make $BUILD_TARGET -j$NUM_PROCS || {
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make clean
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make $BUILD_TARGET -j$NUM_PROCS
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}
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popd
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fi
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# get the location information
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SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | cut -d= -f2)
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[ -z "$SIMHOME" ] && {
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echo "Unknown location $LOCATION"
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usage
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exit 1
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}
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echo "Starting up at $LOCATION : $SIMHOME"
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TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2)
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[ -z "$TRACKER_HOME" ] && {
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echo "Unknown tracker location $TRACKER_LOCATION"
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usage
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exit 1
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}
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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pushd $autotest/../../AntennaTracker
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make sitl -j$NUM_PROCS || {
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make clean
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make sitl -j$NUM_PROCS
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}
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TRACKER_INSTANCE=1
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TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
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TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
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TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
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cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
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$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
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$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT $TRACKER_ARGS || exit 1
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popd
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fi
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cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -I$INSTANCE"
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if [ $WIPE_EEPROM == 1 ]; then
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cmd="$cmd -w"
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fi
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case $VEHICLE in
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ArduPlane)
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[ "$REVERSE_THROTTLE" == 1 ] && {
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EXTRA_SIM="$EXTRA_SIM --revthr"
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}
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RUNSIM="nice $autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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PARMS="ArduPlane.parm"
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if [ $WIPE_EEPROM == 1 ]; then
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cmd="$cmd -PFORMAT_VERSION=13 -PSKIP_GYRO_CAL=1 -PRC3_MIN=1000 -PRC3_TRIM=1000"
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fi
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;;
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ArduCopter)
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RUNSIM="nice $autotest/pysim/sim_multicopter.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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PARMS="copter_params.parm"
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;;
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APMrover2)
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RUNSIM="nice $autotest/pysim/sim_rover.py --home=$SIMHOME --rate=400 $EXTRA_SIM"
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PARMS="Rover.parm"
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;;
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*)
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echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE"
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usage
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exit 1
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;;
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esac
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if [ $START_HIL == 0 ]; then
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if [ $USE_VALGRIND == 1 ]; then
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echo "Using valgrind"
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$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
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elif [ $USE_GDB == 1 ]; then
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echo "Using gdb"
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tfile=$(mktemp)
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[ $USE_GDB_STOPPED == 0 ] && {
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echo r > $tfile
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}
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$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
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else
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$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
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fi
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fi
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trap kill_tasks SIGINT
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sleep 2
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rm -f $tfile
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if [ $EXTERNAL_SIM == 0 ]; then
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$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
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echo "Failed to start simulator: $RUNSIM"
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exit 1
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}
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sleep 2
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else
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echo "Using external ROS simulator"
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RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
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echo "Failed to start simulator: $RUNSIM"
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exit 1
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}
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sleep 2
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fi
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# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
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options=""
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if [ $START_HIL == 0 ]; then
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options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT"
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fi
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# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
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if [ $USER == "vagrant" ]; then
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options="$options --out 10.0.2.2:14550"
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fi
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options="$options --out 127.0.0.1:14550 --out 127.0.0.1:14551"
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extra_cmd1=""
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if [ $WIPE_EEPROM == 1 ]; then
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extra_cmd="param forceload $autotest/$PARMS; $EXTRA_PARM; param fetch"
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fi
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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options="$options --load-module=tracker"
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extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start;"
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fi
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if [ $START_HIL == 1 ]; then
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options="$options --load-module=HIL"
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fi
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if [ $USE_MAVLINK_GIMBAL == 1 ]; then
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options="$options --load-module=gimbal"
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fi
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mavproxy.py $options --cmd="$extra_cmd" $*
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if [ $START_HIL == 0 ]; then
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kill_tasks
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fi
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