From cfc579542e1bad253c26fdc90fb432baf5ffcd07 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 22 Aug 2022 10:58:19 -0400 Subject: [PATCH] new Ignition Gazebo simulation interface architecture (#20057) - much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim --- .gitmodules | 3 - .vscode/cmake-variants.yaml | 5 + .vscode/tasks.json | 169 +- .../init.d-posix/airframes/4001_x3 | 46 + .../init.d-posix/airframes/6001_x4 | 76 + .../init.d-posix/airframes/CMakeLists.txt | 5 + .../init.d-posix/px4-rc.simulator | 51 +- ROMFS/px4fmu_common/init.d-posix/rcS | 1 + Tools/setup_ignition.bash | 23 - Tools/simulation-ignition | 1 - .../gazebo/models/x3/meshes/propeller_ccw.dae | 63 + .../gazebo/models/x3/meshes/propeller_cw.dae | 63 + .../simulation/gazebo/models/x3/meshes/x3.dae | 10172 +++++++++++++ .../simulation/gazebo/models/x3/meshes/x3.jpg | Bin 0 -> 210446 bytes .../simulation/gazebo/models/x3/model.config | 20 + Tools/simulation/gazebo/models/x3/model.sdf | 371 + .../models/x4/materials/textures/led.jpg | Bin 0 -> 81664 bytes .../x4/materials/textures/spotlight.jpg | Bin 0 -> 186736 bytes .../gazebo/models/x4/meshes/led.dae | 529 + .../gazebo/models/x4/meshes/led_lamp.dae | 66 + .../models/x4/meshes/neo11_propeller_ccw.dae | 160 + .../models/x4/meshes/neo11_propeller_cw.dae | 160 + .../gazebo/models/x4/meshes/pelican.dae | 74 + .../gazebo/models/x4/meshes/propeller_ccw.dae | 63 + .../gazebo/models/x4/meshes/propeller_cw.dae | 63 + .../gazebo/models/x4/meshes/spotlight.dae | 2770 ++++ .../gazebo/models/x4/meshes/vi_camera.dae | 140 + .../gazebo/models/x4/meshes/vi_camera.jpg | Bin 0 -> 90341 bytes .../gazebo/models/x4/meshes/vi_sensor.dae | 139 + .../gazebo/models/x4/meshes/vi_sensor.jpg | Bin 0 -> 114575 bytes .../simulation/gazebo/models/x4/meshes/x4.dae | 12596 ++++++++++++++++ .../simulation/gazebo/models/x4/meshes/x4.jpg | Bin 0 -> 170297 bytes .../simulation/gazebo/models/x4/model.config | 17 + Tools/simulation/gazebo/models/x4/model.sdf | 822 + .../gazebo/models/x4/thumbnails/1.jpg | Bin 0 -> 46840 bytes .../gazebo/models/x4/thumbnails/2.jpg | Bin 0 -> 58391 bytes .../gazebo/models/x4/thumbnails/3.jpg | Bin 0 -> 33659 bytes .../gazebo/models/x4/thumbnails/4.jpg | Bin 0 -> 35289 bytes .../gazebo/models/x4/thumbnails/5.jpg | Bin 0 -> 38744 bytes Tools/simulation/gazebo/worlds/empty.sdf | 68 + Tools/sitl_run.sh | 12 +- boards/px4/sitl/ign.px4board | 4 + cmake/px4_add_common_flags.cmake | 2 +- platforms/posix/Debug/launch_sim.json.in | 14 +- platforms/posix/cmake/sitl_target.cmake | 36 +- src/include/visibility.h | 2 +- src/modules/ignition_simulator/CMakeLists.txt | 73 + .../ignition_simulator/IgnitionSimulator.cpp | 382 + .../ignition_simulator/IgnitionSimulator.hpp | 125 + src/modules/ignition_simulator/Kconfig | 5 + src/modules/ignition_simulator/module.yaml | 10 + src/modules/ignition_simulator/parameters.c | 56 + src/modules/logger/logged_topics.cpp | 1 + .../vehicle_angular_velocity/CMakeLists.txt | 6 +- .../VehicleAngularVelocity.cpp | 4 +- .../sensors/vehicle_imu/CMakeLists.txt | 8 +- .../sensor_baro_sim/SensorBaroSim.cpp | 2 +- .../simulator/sensor_gps_sim/SensorGpsSim.cpp | 2 +- 58 files changed, 29260 insertions(+), 220 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4 delete mode 100644 Tools/setup_ignition.bash delete mode 160000 Tools/simulation-ignition create mode 100644 Tools/simulation/gazebo/models/x3/meshes/propeller_ccw.dae create mode 100644 Tools/simulation/gazebo/models/x3/meshes/propeller_cw.dae create mode 100644 Tools/simulation/gazebo/models/x3/meshes/x3.dae create mode 100644 Tools/simulation/gazebo/models/x3/meshes/x3.jpg create mode 100644 Tools/simulation/gazebo/models/x3/model.config create mode 100644 Tools/simulation/gazebo/models/x3/model.sdf create mode 100644 Tools/simulation/gazebo/models/x4/materials/textures/led.jpg create mode 100644 Tools/simulation/gazebo/models/x4/materials/textures/spotlight.jpg create mode 100644 Tools/simulation/gazebo/models/x4/meshes/led.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/led_lamp.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/neo11_propeller_ccw.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/neo11_propeller_cw.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/pelican.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/propeller_ccw.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/propeller_cw.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/spotlight.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/vi_camera.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/vi_camera.jpg create mode 100644 Tools/simulation/gazebo/models/x4/meshes/vi_sensor.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/vi_sensor.jpg create mode 100644 Tools/simulation/gazebo/models/x4/meshes/x4.dae create mode 100644 Tools/simulation/gazebo/models/x4/meshes/x4.jpg create mode 100644 Tools/simulation/gazebo/models/x4/model.config create mode 100644 Tools/simulation/gazebo/models/x4/model.sdf create mode 100644 Tools/simulation/gazebo/models/x4/thumbnails/1.jpg create mode 100644 Tools/simulation/gazebo/models/x4/thumbnails/2.jpg create mode 100644 Tools/simulation/gazebo/models/x4/thumbnails/3.jpg create mode 100644 Tools/simulation/gazebo/models/x4/thumbnails/4.jpg create mode 100644 Tools/simulation/gazebo/models/x4/thumbnails/5.jpg create mode 100644 Tools/simulation/gazebo/worlds/empty.sdf create mode 100644 boards/px4/sitl/ign.px4board create mode 100644 src/modules/ignition_simulator/CMakeLists.txt create mode 100644 src/modules/ignition_simulator/IgnitionSimulator.cpp create mode 100644 src/modules/ignition_simulator/IgnitionSimulator.hpp create mode 100644 src/modules/ignition_simulator/Kconfig create mode 100644 src/modules/ignition_simulator/module.yaml create mode 100644 src/modules/ignition_simulator/parameters.c diff --git a/.gitmodules b/.gitmodules index 22ef494793..136aebb441 100644 --- a/.gitmodules +++ b/.gitmodules @@ -53,9 +53,6 @@ [submodule "src/lib/events/libevents"] path = src/lib/events/libevents url = https://github.com/mavlink/libevents.git -[submodule "Tools/simulation-ignition"] - path = Tools/simulation-ignition - url = https://github.com/PX4/px4-simulation-ignition.git [submodule "src/lib/crypto/libtomcrypt"] path = src/lib/crypto/libtomcrypt url = https://github.com/PX4/libtomcrypt.git diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 9e983b46b5..3cd8f3f8e7 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -6,6 +6,11 @@ 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 diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 96c1cbe37a..415f3ce06a 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -118,124 +118,28 @@ }, "problemMatcher": [] }, - { - "label": "gazebo build", - "type": "shell", - "command": "make px4_sitl_default sitl_gazebo", - "options": { - "cwd": "${workspaceFolder}" - }, - "problemMatcher": [], - "presentation":{ - "echo": true, - "reveal": "always", - "focus": false, - "panel": "shared", - "showReuseMessage": false, - "clear": false, - } - }, - { - "label": "gazebo start", - "type": "shell", - "dependsOn": "gazebo build", - "options": { - "cwd": "${workspaceFolder}", - "env": { - "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", - "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", - "PX4_SIM_SPEED_FACTOR": "1" - } - }, - "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world", - "isBackground": true, - "presentation": { - "echo": true, - "reveal": "never", - "focus": false, - "panel": "shared", - "showReuseMessage": false, - "clear": false - }, - "problemMatcher": [ - { - "pattern": [ - { - "regexp": ".", - "file": 1, - "location": 2, - "message": 3 - } - ], - "background": { - "activeOnStart": true, - "beginsPattern": ".", - "endsPattern": ".", - } - } - ] - }, + { "label": "gazebo", "type": "shell", - "dependsOn": "gazebo start", "options": { "cwd": "${workspaceFolder}", "env": { - "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", - "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", + "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models", "PX4_SIM_SPEED_FACTOR": "1" } }, - "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83", - "isBackground": false, - "presentation": { - "echo": true, - "reveal": "never", - "focus": false, - "panel": "shared", - "showReuseMessage": false, - "clear": false - }, - "problemMatcher": [ - { - "pattern": [ - { - "regexp": ".", - "file": 1, - "location": 2, - "message": 3 - } - ], - "background": { - "activeOnStart": true, - "beginsPattern": ".", - "endsPattern": ".", - } - } - ] - }, - { - "label": "gazebo client", - "type": "shell", - "dependsOn": "gazebo build", - "options": { - "cwd": "${workspaceFolder}", - "env": { - "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", - "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models", - "PX4_SIM_SPEED_FACTOR": "1" - } - }, - "command": "gzclient --verbose", + "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf", "isBackground": true, "presentation": { "echo": true, "reveal": "never", + "revealProblems": "onProblem", "focus": false, - "panel": "shared", + "panel": "dedicated", "showReuseMessage": false, - "clear": false + "clear": false, + "close": true }, "problemMatcher": [ { @@ -255,32 +159,38 @@ } ] }, + { "label": "gazebo kill", "type": "shell", - "command": "killall gzserver", + "command": "pkill -9 -f ign || true", "presentation": { "echo": true, - "reveal": "silent", + "reveal": "never", + "revealProblems": "onProblem", "focus": false, - "panel": "shared", + "panel": "dedicated", "showReuseMessage": false, - "clear": false + "clear": false, + "close": true }, "problemMatcher": [], "dependsOn":["px4_sitl_cleanup"] }, + { "label": "px4_sitl_cleanup", "type": "shell", - "command": "rm -rfv /tmp/px4*", + "command": "rm -rfv /tmp/px4* || true", "presentation": { "echo": true, - "reveal": "silent", + "reveal": "never", + "revealProblems": "onProblem", "focus": false, - "panel": "shared", + "panel": "dedicated", "showReuseMessage": false, - "clear": false + "clear": false, + "close": true }, "problemMatcher": [], "dependsOn":["px4_kill"] @@ -288,14 +198,16 @@ { "label": "px4_kill", "type": "shell", - "command": "killall px4 || true", + "command": "pkill -9 px4 || true", "presentation": { "echo": true, - "reveal": "silent", + "reveal": "never", + "revealProblems": "onProblem", "focus": false, - "panel": "shared", + "panel": "dedicated", "showReuseMessage": false, - "clear": false + "clear": false, + "close": true }, "problemMatcher": [] }, @@ -335,37 +247,12 @@ } ], "inputs": [ - { - "type": "pickString", - "id": "vehicleModel", - "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" + "empty" ], "default": "empty" } diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 new file mode 100644 index 0000000000..dd22a63375 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 @@ -0,0 +1,46 @@ +#!/bin/sh +# +# @name Ignition Gazebo X3 +# +# @type Quadrotor +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default SYS_CTRL_ALLOC 1 + +param set-default CA_AIRFRAME 0 +param set-default CA_ROTOR_COUNT 4 + +param set-default CA_ROTOR0_PX 0.13 +param set-default CA_ROTOR0_PY 0.22 +param set-default CA_ROTOR0_KM 0.05 + +param set-default CA_ROTOR1_PX -0.13 +param set-default CA_ROTOR1_PY -0.20 +param set-default CA_ROTOR1_KM 0.05 + +param set-default CA_ROTOR2_PX 0.13 +param set-default CA_ROTOR2_PY -0.22 +param set-default CA_ROTOR2_KM -0.05 + +param set-default CA_ROTOR3_PX -0.13 +param set-default CA_ROTOR3_PY 0.20 +param set-default CA_ROTOR3_KM -0.05 + +param set-default SIM_GZ_FUNC1 101 +param set-default SIM_GZ_FUNC2 102 +param set-default SIM_GZ_FUNC3 103 +param set-default SIM_GZ_FUNC4 104 + +param set-default SIM_GZ_MIN1 150 +param set-default SIM_GZ_MIN2 150 +param set-default SIM_GZ_MIN3 150 +param set-default SIM_GZ_MIN4 150 + +param set-default SIM_GZ_MAX1 1000 +param set-default SIM_GZ_MAX2 1000 +param set-default SIM_GZ_MAX3 1000 +param set-default SIM_GZ_MAX4 1000 + +param set-default MPC_THR_HOVER 0.60 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4 b/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4 new file mode 100644 index 0000000000..44099ef47b --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4 @@ -0,0 +1,76 @@ +#!/bin/sh +# +# @name Ignition Gazebo X4 +# +# @type Quadrotor +# + +. ${R}etc/init.d/rc.mc_defaults + +param set-default SYS_CTRL_ALLOC 1 + +param set-default CA_AIRFRAME 0 +param set-default CA_ROTOR_COUNT 6 + +param set-default CA_ROTOR0_PX 0.25 +param set-default CA_ROTOR0_PY -0.15 +param set-default CA_ROTOR0_KM 0.05 + +param set-default CA_ROTOR1_PX 0.00 +param set-default CA_ROTOR1_PY -0.29 +param set-default CA_ROTOR1_KM -0.05 + +param set-default CA_ROTOR2_PX -0.25 +param set-default CA_ROTOR2_PY -0.15 +param set-default CA_ROTOR2_KM 0.05 + +param set-default CA_ROTOR3_PX -0.25 +param set-default CA_ROTOR3_PY 0.15 +param set-default CA_ROTOR3_KM -0.05 + +param set-default CA_ROTOR4_PX 0.00 +param set-default CA_ROTOR4_PY 0.29 +param set-default CA_ROTOR4_KM 0.05 + +param set-default CA_ROTOR5_PX 0.25 +param set-default CA_ROTOR5_PY 0.15 +param set-default CA_ROTOR5_KM -0.05 + +param set-default SIM_GZ_FUNC1 101 +param set-default SIM_GZ_FUNC2 102 +param set-default SIM_GZ_FUNC3 103 +param set-default SIM_GZ_FUNC4 104 +param set-default SIM_GZ_FUNC5 105 +param set-default SIM_GZ_FUNC6 106 + +param set-default SIM_GZ_MIN1 150 +param set-default SIM_GZ_MIN2 150 +param set-default SIM_GZ_MIN3 150 +param set-default SIM_GZ_MIN4 150 +param set-default SIM_GZ_MIN5 150 +param set-default SIM_GZ_MIN6 150 + +param set-default SIM_GZ_MAX1 1000 +param set-default SIM_GZ_MAX2 1000 +param set-default SIM_GZ_MAX3 1000 +param set-default SIM_GZ_MAX4 1000 +param set-default SIM_GZ_MAX5 1000 +param set-default SIM_GZ_MAX6 1000 + + +param set-default MC_PITCHRATE_D 0.0016 +param set-default MC_PITCHRATE_I 0.2500 +param set-default MC_PITCHRATE_P 0.1831 +param set-default MC_PITCH_P 5.216 + +param set-default MC_ROLLRATE_D 0.0022 +param set-default MC_ROLLRATE_I 0.2095 +param set-default MC_ROLLRATE_P 0.1570 +param set-default MC_ROLL_P 6.081 + +param set-default MC_YAWRATE_D 0.0009 +param set-default MC_YAWRATE_I 0.1800 +param set-default MC_YAWRATE_P 0.1773 +param set-default MC_YAW_P 5.386490 + +param set-default MPC_THR_HOVER 0.61 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 65cf8ac6f7..b410300700 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -72,9 +72,14 @@ px4_add_romfs_files( 1070_boat 3010_quadrotor_x 3011_hexarotor_x + + 4001_x3 + 17001_tf-g1 17002_tf-g2 2507_cloudship + + 6001_x4 6011_typhoon_h480 6011_typhoon_h480.post ) diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator index cb00e937fc..547196b6a5 100644 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator @@ -1,20 +1,43 @@ #!/bin/sh # shellcheck disable=SC2154 -simulator_tcp_port=$((4560+px4_instance)) +PX4_SIM_WORLD="${PX4_SIM_WORLD:="empty"}" # default to empty world? + +echo "PX4_SIM_MODEL: ${PX4_SIM_MODEL}" +echo "PX4_SIM_WORLD: ${PX4_SIM_WORLD}" + +# TODO: verify if world exists +ign service --info --service /world/${PX4_SIM_WORLD}/create +echo $? + +ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\"" + +if ignition_simulator start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}" +then + + sensor_baro_sim start + sensor_gps_sim start + sensor_mag_sim start -# Check if PX4_SIM_HOSTNAME environment variable is empty -# If empty check if PX4_SIM_HOST_ADDR environment variable is empty -# If both are empty use localhost for simulator -if [ -z "${PX4_SIM_HOSTNAME}" ]; then - if [ -z "${PX4_SIM_HOST_ADDR}" ]; then - echo "PX4 SIM HOST: localhost" - simulator start -c $simulator_tcp_port - else - echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR" - simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port - fi else - echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME" - simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port + simulator_tcp_port=$((4560+px4_instance)) + + # Check if PX4_SIM_HOSTNAME environment variable is empty + # If empty check if PX4_SIM_HOST_ADDR environment variable is empty + # If both are empty use localhost for simulator + if [ -z "${PX4_SIM_HOSTNAME}" ]; then + + if [ -z "${PX4_SIM_HOST_ADDR}" ]; then + echo "PX4 SIM HOST: localhost" + simulator start -c $simulator_tcp_port + else + echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR" + simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port + fi + + else + echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME" + simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port + fi + fi diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS index 324cb06327..20a68ecc11 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rcS +++ b/ROMFS/px4fmu_common/init.d-posix/rcS @@ -212,6 +212,7 @@ elif ! replay tryapplyparams then . px4-rc.simulator fi + load_mon start battery_simulator start tone_alarm start diff --git a/Tools/setup_ignition.bash b/Tools/setup_ignition.bash deleted file mode 100644 index 7def58d358..0000000000 --- a/Tools/setup_ignition.bash +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/bash -# -# Setup environment to make PX4 visible to Gazebo. -# -# Note, this is not necessary if using a ROS catkin workspace with the px4 -# package as the paths are exported. -# -# License: according to LICENSE.md in the root directory of the PX4 Firmware repository - -if [ "$#" != 2 ]; then - echo -e "usage: source setup_gazebo.bash src_dir build_dir\n" - return 1 -fi - -SRC_DIR=$1 -BUILD_DIR=$2 - -# setup Gazebo env and update package path -export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo -export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo -export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models - -echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH" diff --git a/Tools/simulation-ignition b/Tools/simulation-ignition deleted file mode 160000 index 483193d9b8..0000000000 --- a/Tools/simulation-ignition +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 483193d9b8b89211c3b970c735b4fbb5f724b63a diff --git a/Tools/simulation/gazebo/models/x3/meshes/propeller_ccw.dae b/Tools/simulation/gazebo/models/x3/meshes/propeller_ccw.dae new file mode 100644 index 0000000000..1f2679e429 --- /dev/null +++ b/Tools/simulation/gazebo/models/x3/meshes/propeller_ccw.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Fr. Dez 19 16:06:25 2014 + Fr. 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b/Tools/simulation/gazebo/models/x3/model.config @@ -0,0 +1,20 @@ + + + + x3 + 1.0 + model.sdf + + + Carlos Aguero + caguero@openrobotics.org + + + + Cole Biesemeyer + cole@openrobotics.org + + + + + diff --git a/Tools/simulation/gazebo/models/x3/model.sdf b/Tools/simulation/gazebo/models/x3/model.sdf new file mode 100644 index 0000000000..aa8a01e80f --- /dev/null +++ b/Tools/simulation/gazebo/models/x3/model.sdf @@ -0,0 +1,371 @@ + + + + 0 0 0.053302 0 0 0 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1.5 + + 0.0347563 + 0 + 0 + 0.07 + 0 + 0.0977 + + + + 0 0 0 0 -0 0 + + + 0.47 0.47 0.11 + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/x3.dae + + + + + 1 + 250 + + + + 0.13 -0.22 0.023 0 -0 0 + + 0 0 0 0 -0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 4.17041e-05 + 0 + 4.26041e-05 + + + + 0 0 0 0 -0 0 + + + 0.005 + 0.1 + + + + + + + + + + + + + 0 0 0 0 -0 0 + + + 0.1 0.1 0.1 + meshes/propeller_ccw.dae + + + + + + + 1 + + + + rotor_0 + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + -0.13 0.2 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