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Added support for models located in all paths defined in GAZEBO_MODEL_PATH (#16214) 

Co-authored-by: Sander Swart <sander.swart@live.nl>
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Sander Swart 2020-11-17 16:12:31 +01:00 committed by GitHub
parent 5e6f8a9606
commit 387659d615
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1 changed files with 13 additions and 1 deletions
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14
Tools/sitl_run.sh
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@ -127,7 +127,19 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
gzserver $verbose $world_path &
SIM_PID=$!
while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
readarray -d : -t paths <<< ${GAZEBO_MODEL_PATH}
for possibleModelPath in "${paths[@]}"; do
# trim \r from path
possibleModelPath = $(echo $possibleModelPath | tr -d '\r')
if test -f "${possibleModelPath}/${model}/${model}.sdf" ; then
modelpath=$possibleModelPath
break
fi
done
echo "Using: ${modelpath}/${model}/${model}.sdf"
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
echo "gzserver not ready yet, trying again!"
sleep 1
done