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merge px4_sitl_ign into px4_sitl_default (#20188) 

- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
 - simulator_ignition_bridge only try setting the system clock in
lockstep builds
 - this simplifies usage and CI system dependencies
This commit is contained in:
Daniel Agar 2022-09-10 16:18:02 -04:00 committed by GitHub
parent 34d8bd7988
commit b8fb5dfa51
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 162 additions and 230 deletions
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5
.vscode/cmake-variants.yaml vendored
View File

@ -6,11 +6,6 @@ CONFIG:
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
px4_sitl_ign:
short: px4_sitl_ign
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_ign
px4_sitl_rtps:
short: px4_sitl_rtps
buildType: RelWithDebInfo

112
.vscode/tasks.json vendored
View File

@ -56,15 +56,17 @@
"options": {
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
},
"problemMatcher": [],
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
}
"close": true
},
"problemMatcher": []
},
{
"label": "jmavsim",
@ -81,24 +83,28 @@
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false
"clear": false,
"close": true
},
"problemMatcher": []
},
{
"label": "jmavsim kill",
"type": "shell",
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
"presentation": {
"echo": false,
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false
"clear": false,
"close": true
},
"problemMatcher": [],
"dependsOn":["px4_sitl_cleanup"]
@ -110,15 +116,17 @@
"options": {
"cwd": "${workspaceFolder}"
},
"problemMatcher": [],
"presentation": {
"echo": true,
"reveal": "always",
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
}
"close": true
},
"problemMatcher": [],
},
{
"label": "gazebo start",
@ -132,15 +140,17 @@
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false
"clear": false,
"close": true
},
"problemMatcher": [
{
@ -172,15 +182,17 @@
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
"isBackground": false,
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "shared",
"panel": "dedicated",
"showReuseMessage": false,
"clear": false
"clear": false,
"close": true
},
"problemMatcher": [
{
@ -207,38 +219,22 @@
"cwd": "${workspaceFolder}",
"env": {
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"reveal": "always",
"revealProblems": "onProblem",
"focus": false,
"focus": true,
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
"close": true
"close": false
},
"problemMatcher": [
{
"pattern": [
{
"regexp": ".",
"file": 1,
"location": 2,
"message": 3
}
],
"background": {
"activeOnStart": true,
"beginsPattern": ".",
"endsPattern": ".",
}
}
]
"problemMatcher": [],
"dependsOn":["ign gazebo kill"]
},
{
"label": "gazebo kill",
@ -260,7 +256,7 @@
{
"label": "ign gazebo kill",
"type": "shell",
"command": "pkill -9 -f ign || true",
"command": "pkill -9 -f 'ign gazebo' || true",
"presentation": {
"echo": true,
"reveal": "never",
@ -352,40 +348,6 @@
"default"
],
"default": "default"
},
{
"type": "pickString",
"id": "gazeboModel",
"description": "gazebo model",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
],
"default": "iris"
},
{
"type": "pickString",
"id": "gazeboWorld",
"description": "gazebo world",
"options": [
"baylands",
"empty",
"ksql_airport",
"mcmillan_airfield",
"sonoma_raceway",
"warehouse",
"windy",
"yosemite"
],
"default": "empty"
}
]
}

8
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -33,11 +33,11 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
# starting ign gazebo with ${PX4_SIM_WORLD} world
echo "INFO [init] starting ign gazebo"
if [ -z $HEADLESS ]; then
ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
else
# starting ign gazebo headless
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
if [ -z $HEADLESS ]; then
# HEADLESS not set, starting ign gazebo gui
ign gazebo -g &
fi
else
echo "INFO [init] ign gazebo already running world: $ign_world"

8
ROMFS/px4fmu_common/init.d-posix/rcS
View File

@ -1,6 +1,9 @@
#!/bin/sh
set -e
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
@ -66,7 +69,7 @@ set PARAM_BACKUP_FILE parameters_backup.bson
param select $PARAM_FILE
if [ -f $PARAM_FILE ]; then
set +e # disable exit on error control for param import
if ! param import
then
echo "ERROR [init] param import failed"
@ -92,7 +95,6 @@ if [ -f $PARAM_FILE ]; then
param status
fi
set -e # restore exit on error control
elif [ -f $PARAM_BACKUP_FILE ]; then
echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"

1
boards/px4/sitl/default.px4board
View File

@ -40,6 +40,7 @@ CONFIG_MODULES_REPLAY=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_COMMON_SIMULATION=y
CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UUV_ATT_CONTROL=y
CONFIG_MODULES_UUV_POS_CONTROL=y

7
boards/px4/sitl/ign.px4board
View File

@ -1,7 +0,0 @@
CONFIG_COMMON_SIMULATION=n
CONFIG_BOARD_LOCKSTEP=y
CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y

5
platforms/posix/CMakeLists.txt
View File

@ -113,11 +113,8 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
if(${PX4_BOARD_LABEL} MATCHES "replay")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
elseif(${PX4_CONFIG} MATCHES "px4_sitl_ign")
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_ignition.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
else()
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_default.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
endif()
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)

67
platforms/posix/Debug/launch_sitl_default.json.in → platforms/posix/Debug/launch_sitl.json.in
View File

@ -1,6 +1,51 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "SITL (Ignition Gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_IGN_GZ_SIM_MODEL}"
}
],
"externalConsole": false,
"postDebugTask": "ign gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
},
{
"name": "SITL (sihsim 10040_quadx)",
"type": "cppdbg",
@ -46,7 +91,7 @@
}
},
{
"name": "SITL (Gazebo Classic)",
"name": "SITL (Gazebo Classic iris)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
@ -58,7 +103,7 @@
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_SIM_MODEL}"
"value": "iris"
}
],
"externalConsole": false,
@ -106,6 +151,7 @@
"value": "iris"
}
],
"externalConsole": false,
"preLaunchTask": "jmavsim",
"postDebugTask": "jmavsim kill",
"linux": {
@ -180,21 +226,12 @@
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"id": "PX4_IGN_GZ_SIM_MODEL",
"description": "Ignition Gazebo vehicle model",
"options": [
"iris",
"typhoon_h480",
"plane",
"plane_catapult",
"plane_lidar",
"standard_vtol",
"tailsitter",
"tiltrotor",
"r1_rover",
"boat"
"x500",
],
"default": "iris"
"default": "x500"
}
]
}

63
platforms/posix/Debug/launch_sitl_ignition.json.in
View File

@ -1,63 +0,0 @@
{
"version": "0.2.0",
"configurations": [
{
"name": "SITL (Ignition Gazebo)",
"type": "cppdbg",
"request": "launch",
"program": "${command:cmake.launchTargetPath}",
"args": [
"${workspaceFolder}/ROMFS/px4fmu_common",
"-s", "etc/init.d-posix/rcS"
],
"stopAtEntry": false,
"cwd": "${command:cmake.buildDirectory}/rootfs",
"environment": [
{
"name": "PX4_SIM_MODEL",
"value": "${input:PX4_SIM_MODEL}"
}
],
"externalConsole": false,
"preLaunchTask": "ign gazebo",
"postDebugTask": "ign gazebo kill",
"linux": {
"MIMode": "gdb",
"externalConsole": false,
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
{
"description": "PX4 ignore wq signals",
"text": "handle SIGCONT nostop noprint nopass",
"ignoreFailures": true
}
]
},
"osx": {
"MIMode": "lldb",
"externalConsole": true,
"setupCommands": [
{
"text": "pro hand -p true -s false -n false SIGCONT",
}
]
}
}
],
"inputs": [
{
"type": "pickString",
"id": "PX4_SIM_MODEL",
"description": "PX4_SIM_MODEL",
"options": [
"x500",
"x4"
],
"default": "x500"
}
]
}

11
src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt
View File

@ -31,17 +31,20 @@
#
############################################################################
add_compile_options(-frtti -fexceptions)
# Find the Ignition_Transport library
find_package(ignition-transport
REQUIRED COMPONENTS core
#REQUIRED COMPONENTS core
NAMES
ignition-transport8
ignition-transport10
ignition-transport11
#QUIET
)
if(ignition-transport_FOUND)
add_compile_options(-frtti -fexceptions)
set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
px4_add_module(
@ -99,3 +102,5 @@ endforeach()
# TODO: PX4_IGN_MODELS_PATH
# PX4_IGN_WORLDS_PATH
configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
endif()

3
src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
View File

@ -237,6 +237,7 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
{
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
struct timespec ts;
ts.tv_sec = tv_sec;
ts.tv_nsec = tv_nsec;
@ -246,6 +247,8 @@ bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t
return true;
}
#endif // ENABLE_LOCKSTEP_SCHEDULER
return false;
}