dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

sitl: add possibility to not run gazebo when running make

This commit is contained in:
Jonas Vautherin 2017-09-14 11:51:02 +02:00 committed by Lorenz Meier
parent dd98ed565e
commit 93c1ad3103
1 changed files with 30 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
Tools/sitl_run.sh
View File

@ -94,20 +94,23 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]
then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
if [[ -z "$DONT_RUN" ]]
then
# Set the plugin path so Gazebo finds our model and sim
source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
# gzserver needs to be running to avoid a race. Since the launch
# is putting it into the background we need to avoid it by backing off
sleep 3
nice -n 20 gzclient --verbose &
GUI_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
# gzserver needs to be running to avoid a race. Since the launch
# is putting it into the background we need to avoid it by backing off
sleep 3
nice -n 20 gzclient --verbose &
GUI_PID=`echo $!`
fi
fi
else
echo "You need to have gazebo simulator installed!"
@ -124,8 +127,11 @@ sitl_command="$sudo_enabled $sitl_bin $no_pxh $chroot_enabled $src_path $src_pat
echo SITL COMMAND: $sitl_command
if [[ -n "$DONT_RUN" ]]
then
echo "Not running simulation (\$DONT_RUN is set)."
# Start Java simulator
if [ "$debugger" == "lldb" ]
elif [ "$debugger" == "lldb" ]
then
lldb -- $sitl_command
elif [ "$debugger" == "gdb" ]
@ -153,14 +159,17 @@ else
$sitl_command
fi
if [ "$program" == "jmavsim" ]
if [[ -z "$DONT_RUN" ]]
then
pkill -9 -P $SIM_PID
kill -9 $SIM_PID
elif [ "$program" == "gazebo" ]
then
kill -9 $SIM_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
if [ "$program" == "jmavsim" ]
then
pkill -9 -P $SIM_PID
kill -9 $SIM_PID
elif [ "$program" == "gazebo" ]
then
kill -9 $SIM_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
fi
fi
fi