From 86822171b9cd9f8232763ca715dc9cc1a4667f3e Mon Sep 17 00:00:00 2001 From: Daniel Mesham Date: Wed, 16 Aug 2023 15:36:52 +0200 Subject: [PATCH] Add SITL targets for Iris models with depth cameras --- ..._iris_obs_avoid => 1014_gazebo-classic_iris_obs_avoid} | 0 ...avoid.post => 1014_gazebo-classic_iris_obs_avoid.post} | 0 .../airframes/1015_gazebo-classic_iris_depth_camera | 8 ++++++++ .../1016_gazebo-classic_iris_downward_depth_camera | 8 ++++++++ ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt | 6 ++++-- .../simulator_mavlink/sitl_targets_gazebo-classic.cmake | 2 ++ 6 files changed, 22 insertions(+), 2 deletions(-) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1015_gazebo-classic_iris_obs_avoid => 1014_gazebo-classic_iris_obs_avoid} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1015_gazebo-classic_iris_obs_avoid.post => 1014_gazebo-classic_iris_obs_avoid.post} (100%) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera new file mode 100644 index 0000000000..3dc7b0fd75 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera @@ -0,0 +1,8 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor with a depth camera (forward-facing) +# +# @type Quadrotor Wide +# + +. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera new file mode 100644 index 0000000000..b7e7bf51b9 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera @@ -0,0 +1,8 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor with a depth camera (downward-facing) +# +# @type Quadrotor Wide +# + +. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 0ba0c0be9d..ded0ace48b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -39,8 +39,10 @@ px4_add_romfs_files( 1012_gazebo-classic_iris_rplidar 1013_gazebo-classic_iris_vision 1013_gazebo-classic_iris_vision.post - 1015_gazebo-classic_iris_obs_avoid - 1015_gazebo-classic_iris_obs_avoid.post + 1014_gazebo-classic_iris_obs_avoid + 1014_gazebo-classic_iris_obs_avoid.post + 1015_gazebo-classic_iris_depth_camera + 1016_gazebo-classic_iris_downward_depth_camera 1017_gazebo-classic_iris_opt_flow_mockup 1019_gazebo-classic_iris_dual_gps 1021_gazebo-classic_uuv_hippocampus diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake index 7b73e03f75..37e4014d20 100644 --- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake +++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake @@ -81,6 +81,8 @@ if(gazebo_FOUND) iris_foggy_lidar iris_irlock iris_obs_avoid + iris_depth_camera + iris_downward_depth_camera iris_opt_flow iris_opt_flow_mockup iris_rplidar