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Add ignition gazebo support for PX4 Software-In-The-Loop simulations 

This commit adds SITL support for ignition gazebo. Ignition gazebo is a replacement for the "classic" gazebo for future applications.

The simulation can be run as the following
```
make px4_sitl ignition
```
This commit is contained in:
JaeyoungLim 2021-07-20 01:59:41 +02:00 committed by GitHub
parent a8e3c46cdb
commit 58060b23d9
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 48 additions and 0 deletions
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3
.gitmodules vendored
View File

@ -63,3 +63,6 @@
[submodule "src/lib/events/libevents"]
path = src/lib/events/libevents
url = https://github.com/mavlink/libevents.git
[submodule "Tools/simulation-ignition"]
path = Tools/simulation-ignition
url = https://github.com/Auterion/px4-simulation-ignition.git

23
Tools/setup_ignition.bash Normal file
View File

@ -0,0 +1,23 @@
#!/bin/bash
#
# Setup environment to make PX4 visible to Gazebo.
#
# Note, this is not necessary if using a ROS catkin workspace with the px4
# package as the paths are exported.
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
if [ "$#" != 2 ]; then
echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
return 1
fi
SRC_DIR=$1
BUILD_DIR=$2
# setup Gazebo env and update package path
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"

1
Tools/simulation-ignition Submodule

@ -0,0 +1 @@
Subproject commit 794a8dc50538e3476f6d874744d3d3ef24da594d

4
Tools/sitl_run.sh
View File

@ -177,6 +177,10 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
echo "You need to have gazebo simulator installed!"
exit 1
fi
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
echo "Ignition Gazebo"
source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
echo "FG setup"
cd "${src_path}/Tools/flightgear_bridge/"

17
platforms/posix/cmake/sitl_target.cmake
View File

@ -48,6 +48,20 @@ ExternalProject_Add(sitl_gazebo
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
)
px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
ExternalProject_Add(simulation-ignition
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo
INSTALL_COMMAND ""
DEPENDS git_ign_gazebo
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
)
ExternalProject_Add(mavsdk_tests
SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
@ -90,6 +104,7 @@ set(viewers
none
jmavsim
gazebo
ignition
)
set(debuggers
@ -179,6 +194,8 @@ foreach(viewer ${viewers})
add_dependencies(${_targ_name} px4 sitl_gazebo)
elseif(viewer STREQUAL "jmavsim")
add_dependencies(${_targ_name} px4 git_jmavsim)
elseif(viewer STREQUAL "ignition")
add_dependencies(${_targ_name} px4 simulation-ignition)
endif()
else()
if(viewer STREQUAL "gazebo")