Spiri
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spiri-sdk
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Fix path to mu model
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This commit is contained in:
Alex Davies 2024-07-10 15:51:40 -03:00
parent 38fd97bc7a
commit 0dd14bd2fd
4 changed files with 9 additions and 5 deletions
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3
.gitmodules vendored Normal file
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@ -0,0 +1,3 @@
[submodule "PX4-Autopilot"]
path = PX4-Autopilot
url = https://git.spirirobotics.com/Spiri/PX4-Autopilot.git

6
Dockerfile
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@ -1,6 +1,6 @@
FROM px4io/px4-dev-simulation-focal
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /usr/share/gazebo-11/models/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /opt/spiri-sdk/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins
@ -21,11 +21,11 @@ RUN apt-get install --yes ros-noetic-desktop gazebo11 libgazebo11 libgazebo11-de
WORKDIR /opt/spiri-sdk
RUN git clone --depth 1 -b v1.15.0-beta1 https://github.com/PX4/PX4-Autopilot.git --recursive
COPY ./ /opt/spiri-sdk/
WORKDIR /opt/spiri-sdk/PX4-Autopilot/
#Precompile px4
#RUN make px4_sitl_default
RUN DONT_RUN=1 make px4_sitl gazebo-classic
RUN DONT_RUN=1 make px4_sitl gazebo-classic_mu
RUN pip3 install typer-slim loguru sh

1
PX4-Autopilot Submodule

@ -0,0 +1 @@
Subproject commit dd0fb2ef11fc6882c005b16801b1ef47b5d8683b

4
skel/Desktop/simulated-drone/sim_drone.py
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@ -114,7 +114,7 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
"""
with logger.contextualize(syd_id=sys_id):
with modified_environ(
PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
# PX4_SIM_MODEL=os.environ.get("PX4_SIM_MODEL") or "gz_x500",
# ToDo: pose is not passed to gazebo classic
PX4_GZ_MODEL_POSE=os.environ.get("PX4_GZ_MODEL_POSE") or f"0,{(sys_id-1)}",
PX4_INSTANCE="intance_id",
@ -126,7 +126,7 @@ def start(sys_id: int = 1, extra_apps: List[pathlib.Path] = []):
# Run the make px4_sitl gazebo-classic command
px4_command = sh.make(
"px4_sitl",
"gazebo-classic",
"gazebo-classic_mu",
_bg=True,
_out=outputLogger("px4", sys_id),
_cwd=px4Path,