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Add topic remap plugin

This commit is contained in:
Jaeyoung Lim 2024-01-09 10:27:37 +01:00
parent 20129e63fa
commit bf8840d109
3 changed files with 7 additions and 5 deletions
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2
Tools/simulation/gz

@ -1 +1 @@
Subproject commit c78f7f01417168e8faab7a83ade2129c0d26b39d
Subproject commit 47e74c046b2fb10309743a0119d42a21e5e4fc65

8
src/modules/simulation/gz_bridge/CMakeLists.txt
View File

@ -76,8 +76,8 @@ if(gz-transport_FOUND)
px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
include(ExternalProject)
ExternalProject_Add(gz
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz
ExternalProject_Add(px4_gz_plugins
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz/plugins
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_gz
INSTALL_COMMAND ""
@ -121,14 +121,14 @@ if(gz-transport_FOUND)
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
DEPENDS px4 px4_gz_plugins
)
else()
add_custom_target(gz_${model_only}_${world_name}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4
DEPENDS px4 px4_gz_plugins
)
endif()
endforeach()

2
src/modules/simulation/gz_bridge/gz_env.sh.in
View File

@ -2,5 +2,7 @@
export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
export PX4_GZ_PLUGINS=@PX4_SOURCE_DIR@/build/px4_sitl_default/build_gz
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PX4_GZ_PLUGINS