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autotest: use internal rover sim in sim_vehicle.sh

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This commit is contained in:
Andrew Tridgell 2015-05-09 21:22:02 +10:00
parent 3529e02675
commit 6b668c08dc
1 changed files with 20 additions and 17 deletions
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37
Tools/autotest/sim_vehicle.sh
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@ -313,7 +313,7 @@ if [ $START_ANTENNA_TRACKER == 1 ]; then
popd
fi
cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -S -I$INSTANCE"
cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -S -I$INSTANCE --home $SIMHOME"
if [ $WIPE_EEPROM == 1 ]; then
cmd="$cmd -w"
fi
@ -351,7 +351,8 @@ EOF
PARMS="copter_params.parm"
;;
APMrover2)
RUNSIM="nice $autotest/pysim/sim_wrapper.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
RUNSIM=""
cmd="$cmd --model $FRAME"
PARMS="Rover.parm"
;;
*)
@ -379,22 +380,24 @@ fi
trap kill_tasks SIGINT
sleep 2
rm -f $tfile
if [ $EXTERNAL_SIM == 0 ]; then
$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
else
echo "Using external ROS simulator"
RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
if test -n "$RUNSIM"; then
sleep 2
rm -f $tfile
if [ $EXTERNAL_SIM == 0 ]; then
$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
else
echo "Using external ROS simulator"
RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
echo "Failed to start simulator: $RUNSIM"
exit 1
}
sleep 2
fi
fi
# 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