forked from Archive/PX4-Autopilot
SITL gz fixes and init cleanup (#20725)
- remove broken gz version handling and remove x500-legacy - fix all shellcheck warnings - prepare for Gazebo Garden compatibility (needs more work)
This commit is contained in:
Daniel Agar
GitHub
parent
f2c71a8874
commit
72cb4bee01
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@ -3,7 +3,7 @@
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udp_offboard_port_local=$((14580+px4_instance))
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udp_offboard_port_remote=$((14540+px4_instance))
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[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
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udp_onboard_payload_port_local=$((14280+px4_instance))
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udp_onboard_payload_port_remote=$((14030+px4_instance))
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udp_onboard_gimbal_port_local=$((13030+px4_instance))
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@ -20,96 +20,85 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
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elif [ "$PX4_SIMULATOR" = "gz" ]; then
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# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
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if [ -f gazebo_env.sh ]; then
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if [ -f ./gazebo_env.sh ]; then
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. ./gazebo_env.sh
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elif [ -f ../gazebo_env.sh ]; then
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. ../gazebo_env.sh
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fi
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_VERBOSE ]; then
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if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
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gz_verbose=$PX4_GZ_VERBOSE
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else
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gz_verbose=4
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echo "WARN [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
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fi
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echo "INFO [init] PX4_GZ_VERBOSE set to $gz_verbose."
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else
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gz_verbose=1
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echo "INFO [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
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fi
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gz_command="ign" # "ign" before garden
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gz_sub_command="gazebo" # "gazebo" before garden
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gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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# look for running ${gz_command} gazebo world
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gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
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gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
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gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
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if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
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echo "INFO [init] using latest version of MultiCopterMotor plugin."
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else
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echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
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if [ "$PX4_SIM_MODEL" = "x500" ]; then
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PX4_SIM_MODEL="x500-Legacy"
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echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
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fi
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fi
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if [ -z $gz_world ]; then
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# starting ign gazebo with ${PX4_GZ_WORLD} world
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echo "INFO [init] starting ign gazebo"
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# shellcheck disable=SC2153
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ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
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if [ -z $HEADLESS ]; then
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echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
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${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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if [ -z "${HEADLESS}" ]; then
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# HEADLESS not set, starting ign gazebo gui
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ign gazebo -g &
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${gz_command} gazebo -g &
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fi
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else
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echo "INFO [init] ign gazebo already running world: $gz_world"
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PX4_GZ_WORLD=$gz_world
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echo "INFO [init] gazebo already running world: ${gz_world}"
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PX4_GZ_WORLD=${gz_world}
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fi
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
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# start gz_bridge
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if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
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# model specified, gz_bridge will spawn model
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# shellcheck disable=SC2236
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if [ ! -z $PX4_GZ_MODEL_POSE ]; then
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if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
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# Clean potential input line formatting.
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model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
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else
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echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
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model_pose="0,0,0,0,0,0"
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fi
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# start gz bridge with pose arg.
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if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
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elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
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# model name specificed, gz_bridge will attach to existing model
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if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
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elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
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echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
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if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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echo "ERROR [init] gazebo failed to start"
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exit 1
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fi
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@ -131,13 +120,13 @@ else
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echo "PX4 SIM HOST: localhost"
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simulator_mavlink start -c $simulator_tcp_port
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
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simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
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echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
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simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
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fi
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else
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echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
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simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
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echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
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simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
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fi
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fi
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@ -1,11 +0,0 @@
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<?xml version="1.0"?>
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<model>
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<name>x500-Legacy</name>
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<version>1.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Benjamin Perseghetti</name>
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<email>bperseghetti@rudislabs.com</email>
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</author>
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<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
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</model>
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@ -1,76 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500-Legacy'>
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<include merge='true'>
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<uri>model://x500-NoPlugin</uri>
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</include>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>/x500-Legacy_0</robotNamespace>
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>/x500-Legacy_0</robotNamespace>
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>/x500-Legacy_0</robotNamespace>
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>/x500-Legacy_0</robotNamespace>
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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</model>
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</sdf>
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@ -2,13 +2,12 @@
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"version": "0.2.0",
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"configurations": [
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{
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"name": "SITL (GZ)",
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"name": "SITL (gz)",
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"type": "cppdbg",
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"request": "launch",
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"program": "${command:cmake.launchTargetPath}",
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"args": [
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"${workspaceFolder}/ROMFS/px4fmu_common",
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"-s", "etc/init.d-posix/rcS"
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"${workspaceFolder}/ROMFS/px4fmu_common"
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],
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"stopAtEntry": false,
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"cwd": "${command:cmake.buildDirectory}/rootfs",
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@ -31,21 +31,28 @@
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#
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############################################################################
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# Find the Ignition_Transport library
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find_package(ignition-transport
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# Find the gz_Transport library
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find_package(gz-transport
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#REQUIRED COMPONENTS core
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NAMES
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ignition-transport8
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ignition-transport10
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ignition-transport11
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gz-transport12
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#QUIET
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)
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if(ignition-transport_FOUND)
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if(gz-transport_FOUND)
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add_compile_options(-frtti -fexceptions)
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set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
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set(GZ_TRANSPORT_VER ${gz-transport_VERSION_MAJOR})
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if (GZ_TRANSPORT_VER GREATER_EQUAL 12)
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set(GZ_TRANSPORT_LIB gz-transport${GZ_TRANSPORT_VER}::core)
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else()
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set(GZ_TRANSPORT_LIB ignition-transport${GZ_TRANSPORT_VER}::core)
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endif()
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px4_add_module(
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MODULE modules__simulation__gz_bridge
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@ -58,7 +65,7 @@ if(ignition-transport_FOUND)
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DEPENDS
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mixer_module
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px4_work_queue
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ignition-transport${IGN_TRANSPORT_VER}::core
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${GZ_TRANSPORT_LIB}
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MODULE_CONFIG
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module.yaml
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)
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@ -4,3 +4,6 @@ export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
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export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
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export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
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# IGN -> GZ as of Garden
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export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
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