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)
2022-12-07 15:41:13 -05:00 · 2022-12-07 15:41:13 -05:00 · 72cb4bee01
parent f2c71a8874
commit 72cb4bee01
12 changed files with 61 additions and 150 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
@ -3,7 +3,7 @@

 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
 udp_onboard_gimbal_port_local=$((13030+px4_instance))
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@ -20,96 +20,85 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 elif [ "$PX4_SIMULATOR" = "gz" ]; then

 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f gazebo_env.sh ]; then
+	if [ -f ./gazebo_env.sh ]; then
 		. ./gazebo_env.sh
+
 	elif [ -f ../gazebo_env.sh ]; then
 		. ../gazebo_env.sh
 	fi

-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_VERBOSE ]; then
-		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
-			gz_verbose=$PX4_GZ_VERBOSE
-		else
-			gz_verbose=4
-			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
-		fi
-		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
-	else
-		gz_verbose=1
-		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
-	fi
+	gz_command="ign" # "ign" before garden
+	gz_sub_command="gazebo" # "gazebo" before garden

-	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	# look for running ${gz_command} gazebo world
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

-	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
-	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
-	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
+	# shellcheck disable=SC2153
+	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

-	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
-		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
-	else
-		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
-		if [ "$PX4_SIM_MODEL" = "x500" ]; then
-			PX4_SIM_MODEL="x500-Legacy"
-			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
-		fi
-	fi
+		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"

-	if [ -z $gz_world ]; then
+		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &

-		# starting ign gazebo with ${PX4_GZ_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
-# shellcheck disable=SC2153
-		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z $HEADLESS ]; then
+		if [ -z "${HEADLESS}" ]; then
 			# HEADLESS not set, starting ign gazebo gui
-			ign gazebo -g &
+			${gz_command} gazebo -g &
 		fi
+
 	else
-		echo "INFO  [init] ign gazebo already running world: $gz_world"
-		PX4_GZ_WORLD=$gz_world
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		PX4_GZ_WORLD=${gz_world}
 	fi

-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+	# start gz_bridge
+	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# model specified, gz_bridge will spawn model

-# shellcheck disable=SC2236
-		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
-			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
 			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
 		else
 			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
+
 		# start gz bridge with pose arg.
 		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi
-	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+		# model name specificed, gz_bridge will attach to existing model
+
 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi
-	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+
+	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+
 		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi

@ -131,13 +120,13 @@ else
 			echo "PX4 SIM HOST: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+			echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi

 	else
-		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi

 fi
--- a/Tools/simulation/gz/models/x500-Legacy/model.config
+++ b/Tools/simulation/gz/models/x500-Legacy/model.config
@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-Legacy</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <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>
-</model>
--- a/Tools/simulation/gz/models/x500-Legacy/model.sdf
+++ b/Tools/simulation/gz/models/x500-Legacy/model.sdf
@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Legacy'>
-    <include merge='true'>
-      <uri>model://x500-NoPlugin</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-  </model>
-</sdf>
--- a/Tools/simulation/gz/models/x500-Legacy/thumbnails/1.png
+++ b/Tools/simulation/gz/models/x500-Legacy/thumbnails/1.png
--- a/Tools/simulation/gz/models/x500-Legacy/thumbnails/2.png
+++ b/Tools/simulation/gz/models/x500-Legacy/thumbnails/2.png
--- a/Tools/simulation/gz/models/x500-Legacy/thumbnails/3.png
+++ b/Tools/simulation/gz/models/x500-Legacy/thumbnails/3.png
--- a/Tools/simulation/gz/models/x500-Legacy/thumbnails/4.png
+++ b/Tools/simulation/gz/models/x500-Legacy/thumbnails/4.png
--- a/Tools/simulation/gz/models/x500-Legacy/thumbnails/5.png
+++ b/Tools/simulation/gz/models/x500-Legacy/thumbnails/5.png
--- a/platforms/posix/Debug/launch_sitl.json.in
+++ b/platforms/posix/Debug/launch_sitl.json.in
@ -2,13 +2,12 @@
    "version": "0.2.0",
    "configurations": [
        {
-            "name": "SITL (GZ)",
+            "name": "SITL (gz)",
            "type": "cppdbg",
            "request": "launch",
            "program": "${command:cmake.launchTargetPath}",
            "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s", "etc/init.d-posix/rcS"
+                "${workspaceFolder}/ROMFS/px4fmu_common"
            ],
            "stopAtEntry": false,
            "cwd": "${command:cmake.buildDirectory}/rootfs",
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@ -31,21 +31,28 @@
 #
 ############################################################################

-# Find the Ignition_Transport library
-find_package(ignition-transport
+# Find the gz_Transport library
+find_package(gz-transport
 	#REQUIRED COMPONENTS core
 	NAMES
 		ignition-transport8
 		ignition-transport10
 		ignition-transport11
+		gz-transport12
 	#QUIET
 )

-if(ignition-transport_FOUND)
+if(gz-transport_FOUND)

 	add_compile_options(-frtti -fexceptions)

-	set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
+	set(GZ_TRANSPORT_VER ${gz-transport_VERSION_MAJOR})
+
+	if (GZ_TRANSPORT_VER GREATER_EQUAL 12)
+		set(GZ_TRANSPORT_LIB gz-transport${GZ_TRANSPORT_VER}::core)
+	else()
+		set(GZ_TRANSPORT_LIB ignition-transport${GZ_TRANSPORT_VER}::core)
+	endif()

 	px4_add_module(
 		MODULE modules__simulation__gz_bridge
@ -58,7 +65,7 @@ if(ignition-transport_FOUND)
 		DEPENDS
 			mixer_module
 			px4_work_queue
-			ignition-transport${IGN_TRANSPORT_VER}::core
+			${GZ_TRANSPORT_LIB}
 		MODULE_CONFIG
 			module.yaml
 	)
--- a/src/modules/simulation/gz_bridge/gazebo_env.sh.in
+++ b/src/modules/simulation/gz_bridge/gazebo_env.sh.in
@ -4,3 +4,6 @@ export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
 export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds

 export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
+
+# IGN -> GZ as of Garden
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS