forked from Archive/PX4-Autopilot
simulation: restore 'gazebo' alias for 'gazebo_iris'
- only create helper targets if Gazebo 11 found on system
This commit is contained in:
Daniel Agar
GitHub
parent
82ecbccd85
commit
52b9b9ba2f
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@ -44,7 +44,7 @@ CONFIG_MODULES_REPLAY=y
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CONFIG_MODULES_ROVER_POS_CONTROL=y
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CONFIG_MODULES_SENSORS=y
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CONFIG_COMMON_SIMULATION=y
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CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
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CONFIG_MODULES_SIMULATION_GZ_BRIDGE=n
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CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
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CONFIG_MODULES_UUV_ATT_CONTROL=y
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CONFIG_MODULES_UUV_POS_CONTROL=y
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@ -1,223 +1,233 @@
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# Estimate an appropriate number of parallel jobs
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cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
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cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES)
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set(parallel_jobs 1)
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find_package(gazebo)
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if(NOT NUMBER_OF_LOGICAL_CORES)
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include(ProcessorCount)
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ProcessorCount(NUMBER_OF_LOGICAL_CORES)
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endif()
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if(gazebo_FOUND)
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if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4)
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# Memory estimate unavailable, use N-2 jobs
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math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2")
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endif()
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message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and targets")
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if(AVAILABLE_PHYSICAL_MEMORY)
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# Allow an additional job for every 1.5GB of available physical memory
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math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)")
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else()
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set(AVAILABLE_PHYSICAL_MEMORY "?")
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endif()
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# Estimate an appropriate number of parallel jobs
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cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
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cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES)
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if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES)
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set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES})
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endif()
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if(parallel_jobs LESS 1)
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set(parallel_jobs 1)
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endif()
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# message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
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# Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
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# project to build sitl_gazebo if necessary
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
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include(ExternalProject)
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ExternalProject_Add(sitl_gazebo
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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-DSEND_ODOMETRY_DATA=ON
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-DGENERATE_ROS_MODELS=ON
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BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
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INSTALL_COMMAND ""
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DEPENDS git_gazebo
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
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)
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# create targets for each model/world/debugger combination
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set(debuggers
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none
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gdb
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lldb
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valgrind
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callgrind
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)
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set(models
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advanced_plane
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believer
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boat
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cloudship
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glider
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iris
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iris_dual_gps
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iris_foggy_lidar
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iris_irlock
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iris_obs_avoid
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iris_opt_flow
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iris_opt_flow_mockup
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iris_rplidar
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iris_vision
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omnicopter
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plane
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plane_cam
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plane_catapult
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plane_lidar
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px4vision
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r1_rover
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rover
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standard_vtol
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standard_vtol_drop
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tailsitter
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techpod
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tiltrotor
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typhoon_h480
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uuv_bluerov2_heavy
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uuv_hippocampus
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)
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set(worlds
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none
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baylands
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empty
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ksql_airport
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mcmillan_airfield
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sonoma_raceway
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warehouse
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windy
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yosemite
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)
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# find corresponding airframes
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file(GLOB gazebo_airframes
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RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
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)
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# remove any .post files
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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if(gazebo_airframe MATCHES ".post")
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list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
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if(NOT NUMBER_OF_LOGICAL_CORES)
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include(ProcessorCount)
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ProcessorCount(NUMBER_OF_LOGICAL_CORES)
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endif()
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endforeach()
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list(REMOVE_DUPLICATES gazebo_airframes)
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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set(model_only)
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string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
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if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
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if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
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OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
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#message(STATUS "SDF file found for ${model_only}")
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else()
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message(WARNING "No SDF file found for ${model_only}")
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endif()
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if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4)
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# Memory estimate unavailable, use N-2 jobs
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math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2")
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endif()
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if(AVAILABLE_PHYSICAL_MEMORY)
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# Allow an additional job for every 1.5GB of available physical memory
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math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)")
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else()
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message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
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set(AVAILABLE_PHYSICAL_MEMORY "?")
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endif()
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endforeach()
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foreach(debugger ${debuggers})
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foreach(model ${models})
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if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES)
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set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES})
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endif()
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# match model to airframe
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set(airframe_model_only)
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set(airframe_sys_autostart)
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set(gazebo_airframe_found)
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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if(parallel_jobs LESS 1)
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set(parallel_jobs 1)
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endif()
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string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
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string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
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# message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
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# Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}")
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if(model STREQUAL ${airframe_model_only})
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set(gazebo_airframe_found ${gazebo_airframe})
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break()
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endif()
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endforeach()
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# project to build sitl_gazebo if necessary
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo")
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include(ExternalProject)
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ExternalProject_Add(sitl_gazebo
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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-DSEND_ODOMETRY_DATA=ON
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-DGENERATE_ROS_MODELS=ON
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BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
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INSTALL_COMMAND ""
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DEPENDS git_gazebo
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
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)
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if(gazebo_airframe_found)
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#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
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else()
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message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
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# create targets for each model/world/debugger combination
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set(debuggers
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none
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gdb
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lldb
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valgrind
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callgrind
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)
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set(models
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advanced_plane
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believer
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boat
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cloudship
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glider
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iris
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iris_dual_gps
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iris_foggy_lidar
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iris_irlock
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iris_obs_avoid
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iris_opt_flow
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iris_opt_flow_mockup
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iris_rplidar
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iris_vision
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omnicopter
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plane
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plane_cam
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plane_catapult
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plane_lidar
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px4vision
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r1_rover
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rover
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standard_vtol
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standard_vtol_drop
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tailsitter
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techpod
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tiltrotor
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typhoon_h480
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uuv_bluerov2_heavy
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uuv_hippocampus
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)
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set(worlds
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none
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baylands
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empty
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ksql_airport
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mcmillan_airfield
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sonoma_raceway
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warehouse
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windy
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yosemite
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)
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# find corresponding airframes
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file(GLOB gazebo_airframes
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RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
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${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_*
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)
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# remove any .post files
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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if(gazebo_airframe MATCHES ".post")
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list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe})
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endif()
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endforeach()
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list(REMOVE_DUPLICATES gazebo_airframes)
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foreach(world ${worlds})
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if(world STREQUAL "none")
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "gazebo")
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else()
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set(_targ_name "gazebo_${model}")
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endif()
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else()
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if(model STREQUAL "none")
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set(_targ_name "gazebo___${debugger}")
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else()
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set(_targ_name "gazebo_${model}_${debugger}")
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endif()
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endif()
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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set(model_only)
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string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe})
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 sitl_gazebo
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)
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if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}")
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if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf")
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OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja"))
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#message(STATUS "SDF file found for ${model_only}")
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else()
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "gazebo___${world}")
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else()
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set(_targ_name "gazebo_${model}__${world}")
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endif()
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else()
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if(model STREQUAL "none")
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set(_targ_name "gazebo__${debugger}_${world}")
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else()
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set(_targ_name "gazebo_${model}_${debugger}_${world}")
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endif()
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 sitl_gazebo
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)
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message(WARNING "No SDF file found for ${model_only}")
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endif()
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else()
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message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found")
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endif()
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endforeach()
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foreach(debugger ${debuggers})
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foreach(model ${models})
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# match model to airframe
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set(airframe_model_only)
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set(airframe_sys_autostart)
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set(gazebo_airframe_found)
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foreach(gazebo_airframe IN LISTS gazebo_airframes)
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string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe})
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string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe})
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if(model STREQUAL ${airframe_model_only})
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set(gazebo_airframe_found ${gazebo_airframe})
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break()
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endif()
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endforeach()
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if(gazebo_airframe_found)
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#message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
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else()
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message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
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endif()
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foreach(world ${worlds})
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if(world STREQUAL "none")
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "gazebo")
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else()
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set(_targ_name "gazebo_${model}")
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endif()
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else()
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if(model STREQUAL "none")
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set(_targ_name "gazebo___${debugger}")
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else()
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set(_targ_name "gazebo_${model}_${debugger}")
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endif()
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 sitl_gazebo
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)
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else()
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "gazebo___${world}")
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else()
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set(_targ_name "gazebo_${model}__${world}")
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endif()
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else()
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if(model STREQUAL "none")
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set(_targ_name "gazebo__${debugger}_${world}")
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else()
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set(_targ_name "gazebo_${model}_${debugger}_${world}")
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endif()
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 sitl_gazebo
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)
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endif()
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endforeach()
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endforeach()
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endforeach()
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endforeach()
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# mavsdk tests currently depend on sitl_gazebo
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ExternalProject_Add(mavsdk_tests
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SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
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INSTALL_COMMAND ""
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
|
||||
)
|
||||
add_custom_target(gazebo DEPENDS gazebo_iris) # alias
|
||||
|
||||
# mavsdk tests currently depend on sitl_gazebo
|
||||
ExternalProject_Add(mavsdk_tests
|
||||
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
|
||||
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
|
||||
BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
|
||||
INSTALL_COMMAND ""
|
||||
USES_TERMINAL_CONFIGURE true
|
||||
USES_TERMINAL_BUILD true
|
||||
EXCLUDE_FROM_ALL true
|
||||
BUILD_ALWAYS 1
|
||||
)
|
||||
endif()
|
||||
|
|
|
|||
Loading…
Reference in New Issue