forked from Archive/PX4-Autopilot
* Path cleanup for SITL. * Restructured sitl scripts dir. * Set integration tests to use ekf2 for vtol. * Fix sitl paths for mac.
This commit is contained in:
Lorenz Meier
GitHub
parent
61f7470e7e
commit
f511d49cc2
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@ -124,6 +124,11 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
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execute_process(
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COMMAND Tools/check_submodules.sh
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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# Use clang
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#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
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#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
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@ -158,6 +163,9 @@ message(STATUS "${target_name}")
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# Define GNU standard installation directories
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include(GNUInstallDirs)
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# Add support for external project building
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include(ExternalProject)
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# Setup install paths
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if(NOT CMAKE_INSTALL_PREFIX)
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if (${OS} STREQUAL "posix")
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@ -198,6 +206,9 @@ if(DEFINED config_df_driver_list)
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message("DF Drivers: ${config_df_driver_list}")
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endif()
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# force static lib build
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set(BUILD_SHARED_LIBS OFF)
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#=============================================================================
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# project definition
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#
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@ -218,8 +229,22 @@ set(version "${version_major}.${version_minor}.${version_patch}")
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set(package-contact "px4users@googlegroups.com")
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#=============================================================================
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# programs
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# find programs and packages
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#
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# see if catkin was invoked to build this
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if (CATKIN_DEVEL_PREFIX)
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message(STATUS "catkin ENABLED")
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find_package(catkin REQUIRED)
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if (catkin_FOUND)
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catkin_package()
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else()
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message(FATAL_ERROR "catkin not found")
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endif()
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else()
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message(STATUS "catkin DISABLED")
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endif()
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find_package(PythonInterp REQUIRED)
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#=============================================================================
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@ -398,14 +423,13 @@ set(CPACK_GENERATOR "ZIP")
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
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set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
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set(CPACK_SET_DESTDIR "OFF")
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if ("${CMAKE_SYSTEM}" MATCHES "Linux")
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find_program(DPKG_PROGRAM dpkg)
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if (EXISTS ${DPKG_PROGRAM})
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list (APPEND CPACK_GENERATOR "DEB")
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endif()
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endif()
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if (${OS} STREQUAL "posix")
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set(CPACK_SET_DESTDIR "ON")
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find_program(DPKG_PROGRAM dpkg)
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if (EXISTS ${DPKG_PROGRAM})
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list (APPEND CPACK_GENERATOR "DEB")
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endif()
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endif()
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include(CPack)
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36
Makefile
36
Makefile
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@ -111,20 +111,23 @@ else
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BUILD_DIR_SUFFIX :=
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endif
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SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
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+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
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+@Tools/check_submodules.sh
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+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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define cmake-build-other
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
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+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
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+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
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+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
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endef
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# create empty targets to avoid msgs for targets passed to cmake
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@ -174,6 +177,9 @@ posix_sitl_default:
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posix_sitl_lpe:
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$(call cmake-build,$@)
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posix_sitl_ekf2:
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$(call cmake-build,$@)
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posix_sitl_replay:
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$(call cmake-build,$@)
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@ -233,14 +239,8 @@ run_sitl_ros: sitl_deprecation
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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.NOTPARALLEL: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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gazebo_build:
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@mkdir -p build_gazebo
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@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
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@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
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@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
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.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
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uavcan_firmware:
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ifeq ($(VECTORCONTROL),1)
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@ -308,11 +308,7 @@ unittest: posix_sitl_default
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@(cd build_unittest && ctest -j2 --output-on-failure)
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run_tests_posix: posix_sitl_default
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@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
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@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
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@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
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@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
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@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
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@(cd build_posix_sitl_default/ && ctest -V)
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tests: check_unittest run_tests_posix
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@ -0,0 +1,28 @@
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#!/bin/bash
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#
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# Setup environment to make PX4 visible to Gazebo.
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#
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# Note, this is not necessary if using a ROS catkin workspace with the px4
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# package as the paths are exported.
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#
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
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if [ "$#" != 2 ]
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then
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echo usage: source setup_gazebo.bash src_dir build_dir
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echo ""
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return 1
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fi
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SRC_DIR=$1
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BUILD_DIR=$2
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# setup Gazebo env and update package path
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export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
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export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
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# Disabling the remote model download seems only necessary with Gazebo 6
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#export GAZEBO_MODEL_DATABASE_URI=""
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export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo
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echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
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echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
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echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
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@ -1,22 +1,29 @@
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#!/bin/bash
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rc_script=$1
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debugger=$2
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program=$3
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model=$4
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build_path=$5
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curr_dir=`pwd`
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set -e
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echo args: $@
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sitl_bin=$1
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label=$2
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debugger=$3
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program=$4
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model=$5
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src_path=$6
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build_path=$7
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echo SITL ARGS
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echo rc_script: $rc_script
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echo sitl_bin: $sitl_bin
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echo label: $label
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echo debugger: $debugger
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echo program: $program
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echo model: $model
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echo src_path: $src_path
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echo build_path: $build_path
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mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
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mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
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touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
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working_dir=`pwd`
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sitl_bin=$build_path/src/firmware/posix/px4
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if [ "$chroot" == "1" ]
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then
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@ -35,32 +42,29 @@ fi
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if [ "$#" -lt 5 ]
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then
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echo usage: sitl_run.sh rc_script debugger program model build_path
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echo usage: sitl_run.sh rc_script debugger program model devel_path
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echo ""
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exit 1
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fi
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# kill process names that might stil
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# be running from last time
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pkill gazebo
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pkill px4
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pgrep gazebo && pkill gazebo
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pgrep px4 && pkill px4
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jmavsim_pid=`ps aux | grep java | grep Simulator | cut -d" " -f1`
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if [ -n "$jmavsim_pid" ]
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then
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kill $jmavsim_pid
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fi
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set -e
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cd $build_path/..
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cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
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cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
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cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
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cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
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SIM_PID=0
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if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
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then
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cd Tools/jMAVSim
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cd $src_path/Tools/jMAVSim
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ant create_run_jar copy_res
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cd out/production
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java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
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@ -71,15 +75,9 @@ then
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if [ -x "$(command -v gazebo)" ]
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then
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# Set the plugin path so Gazebo finds our model and sim
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export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
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# Set the model path so Gazebo finds the airframes
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export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
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# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
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# export GAZEBO_MODEL_DATABASE_URI=""
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export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
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make --no-print-directory gazebo_build
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source $src_path/Tools/setup_gazebo.bash ${src_path} ${build_path}
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gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
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gzserver --verbose ${src_path}/Tools/sitl_gazebo/worlds/${model}.world &
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SIM_PID=`echo $!`
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if [[ -n "$HEADLESS" ]]; then
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@ -98,37 +96,41 @@ then
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# This is not a simulator, but a log file to replay
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# Check if we need to creat a param file to allow user to change parameters
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if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
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if ! [ -f "$rootfs/replay_params.txt" ]
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then
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touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
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touch $rootfs/replay_params.txt
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fi
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fi
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cd $build_path/src/firmware/posix
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cd $working_dir
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if [ "$logfile" != "" ]
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then
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cp $logfile rootfs/replay.px4log
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cp $logfile $rootfs/replay.px4log
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fi
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# Do not exit on failure now from here on because we want the complete cleanup
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set +e
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sitl_command="$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${label}/${model}"
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echo SITL COMMAND: $sitl_command
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# Start Java simulator
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if [ "$debugger" == "lldb" ]
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then
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lldb -- px4 ../../../../${rc_script}_${program}_${model}
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lldb -- $sitl_command
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elif [ "$debugger" == "gdb" ]
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then
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gdb --args px4 ../../../../${rc_script}_${program}_${model}
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gdb --args $sitl_command
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elif [ "$debugger" == "ddd" ]
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then
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ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
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ddd --debugger gdb --args $sitl_command
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind ./px4 ../../../../${rc_script}_${program}_${model}
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valgrind $sitl_command
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else
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$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
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$sitl_command
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fi
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if [ "$program" == "jmavsim" ]
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|
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@ -72,8 +72,8 @@ set(config_extra_builtin_cmds
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sercon
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)
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set(config_sitl_rcS
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posix-configs/SITL/init/rcS
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/
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CACHE FILEPATH "init script for sitl"
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)
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|
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@ -96,9 +96,9 @@ set(config_extra_builtin_cmds
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sercon
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)
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set(config_sitl_rcS
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posix-configs/SITL/init/rcS
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CACHE FILEPATH "init script for sitl"
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/lpe
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CACHE FILEPATH "init script dir for sitl"
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)
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set(config_sitl_viewer
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|
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@ -0,0 +1,5 @@
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include(cmake/configs/posix_sitl_default.cmake)
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/ekf2/
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)
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@ -1,5 +1,5 @@
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include(cmake/configs/posix_sitl_default.cmake)
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set(config_sitl_rcS
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posix-configs/SITL/init/rcS_lpe
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/lpe/
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)
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|
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@ -5,26 +5,27 @@
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|||
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
|
||||
set -e
|
||||
|
||||
if [ "$#" -lt 1 ]
|
||||
# handle cleaning command
|
||||
do_clean=true
|
||||
if [ "$1" = "-o" ]
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||||
then
|
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echo usage: run_tests.bash firmware_src_dir
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echo ""
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||||
exit 1
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||||
echo not cleaning
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||||
do_clean=false
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||||
fi
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|
||||
SRC_DIR=$1
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JOB_DIR=$SRC_DIR/..
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BUILD=posix_sitl_default
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# TODO
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ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
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ROS_LOG_DIR=/root/.ros/log
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PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
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TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
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# BAGS=/root/.ros
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||||
# CHARTS=/root/.ros/charts
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||||
# EXPORT_CHARTS=/sitl/testing/export_charts.py
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||||
# determine the directory of the source given the directory of this script
|
||||
pushd `dirname $0` > /dev/null
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SCRIPTPATH=`pwd`
|
||||
popd > /dev/null
|
||||
ORIG_SRC=$(dirname $SCRIPTPATH)
|
||||
|
||||
# source ROS env
|
||||
# set paths
|
||||
JOB_DIR=$(dirname $ORIG_SRC)
|
||||
CATKIN_DIR=$JOB_DIR/catkin
|
||||
BUILD_DIR=$CATKIN_DIR/build/px4
|
||||
SRC_DIR=${CATKIN_DIR}/src/px4
|
||||
|
||||
echo setting up ROS paths
|
||||
if [ -f /opt/ros/indigo/setup.bash ]
|
||||
then
|
||||
source /opt/ros/indigo/setup.bash
|
||||
|
|
@ -35,26 +36,53 @@ else
|
|||
echo "could not find /opt/ros/{ros-distro}/setup.bash"
|
||||
exit 1
|
||||
fi
|
||||
source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
|
||||
export ROS_HOME=$JOB_DIR/.ros
|
||||
export ROS_LOG_DIR=$ROS_HOME/log
|
||||
export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
|
||||
|
||||
echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
|
||||
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
|
||||
rm -r ${TEST_RESULT_TARGET_DIR}
|
||||
fi
|
||||
PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
|
||||
TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
|
||||
|
||||
# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
|
||||
# when run from "run_container.bash". Why?
|
||||
if [ -d /root/Firmware ]; then
|
||||
rm /root/Firmware
|
||||
# TODO
|
||||
# BAGS=$ROS_HOME
|
||||
# CHARTS=$ROS_HOME/charts
|
||||
# EXPORT_CHARTS=/sitl/testing/export_charts.py
|
||||
|
||||
if $do_clean
|
||||
then
|
||||
echo cleaning
|
||||
rm -rf $CATKIN_DIR
|
||||
rm -rf $ROS_HOME
|
||||
rm -rf $TEST_RESULT_TARGET_DIR
|
||||
else
|
||||
echo skipping clean step
|
||||
fi
|
||||
ln -s ${SRC_DIR} /root/Firmware
|
||||
|
||||
echo "=====> compile ($SRC_DIR)"
|
||||
cd $SRC_DIR
|
||||
make ${BUILD}
|
||||
make --no-print-directory gazebo_build
|
||||
mkdir -p $ROS_HOME
|
||||
mkdir -p $CATKIN_DIR/src
|
||||
mkdir -p $TEST_RESULT_TARGET_DIR
|
||||
if ! [ -d $SRC_DIR ]
|
||||
then
|
||||
ln -s $ORIG_SRC $SRC_DIR
|
||||
ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
|
||||
fi
|
||||
cd $CATKIN_DIR
|
||||
catkin_make
|
||||
. ./devel/setup.bash
|
||||
echo "<====="
|
||||
|
||||
# print paths to user
|
||||
echo -e "JOB_DIR\t\t: $JOB_DIR"
|
||||
echo -e "ROS_HOME\t: $ROS_HOME"
|
||||
echo -e "CATKIN_DIR\t: $CATKIN_DIR"
|
||||
echo -e "BUILD_DIR\t: $BUILD_DIR"
|
||||
echo -e "SRC_DIR\t\t: $SRC_DIR"
|
||||
echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
|
||||
echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
|
||||
echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
|
||||
echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
|
||||
|
||||
# don't exit on error anymore from here on (because single tests or exports might fail)
|
||||
set +e
|
||||
echo "=====> run tests"
|
||||
|
|
@ -73,7 +101,6 @@ echo "=====> process test results"
|
|||
# done
|
||||
|
||||
echo "copy build test results to job directory"
|
||||
mkdir -p ${TEST_RESULT_TARGET_DIR}
|
||||
cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
|
||||
cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
|
||||
cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
|
||||
|
|
|
|||
|
|
@ -1,22 +0,0 @@
|
|||
#!/bin/bash
|
||||
#
|
||||
# Setup environment to make PX4 visible to ROS/Gazebo.
|
||||
#
|
||||
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
|
||||
|
||||
if [ "$#" -lt 1 ]
|
||||
then
|
||||
echo usage: source setup_gazebo_ros.bash firmware_src_dir
|
||||
echo ""
|
||||
return 1
|
||||
fi
|
||||
|
||||
SRC_DIR=$1
|
||||
|
||||
# setup Gazebo env and update package path
|
||||
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
|
||||
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
|
||||
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
|
||||
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
|
||||
export GAZEBO_MODEL_DATABASE_URI=""
|
||||
export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
|
||||
|
|
@ -1,19 +1,47 @@
|
|||
<launch>
|
||||
|
||||
<!-- MAVROS posix SITL environment launch script -->
|
||||
<arg name="x" default="0"/>
|
||||
<arg name="y" default="0"/>
|
||||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
|
||||
|
||||
<arg name="est" default="lpe"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
|
||||
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
|
||||
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="world" default="iris"/>
|
||||
<arg name="build" default="posix_sitl_default"/>
|
||||
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
|
||||
<include file="$(find px4)/launch/posix_sitl.launch">
|
||||
<arg name="x" value="$(arg x)"/>
|
||||
<arg name="y" value="$(arg y)"/>
|
||||
<arg name="z" value="$(arg z)"/>
|
||||
<arg name="R" value="$(arg R)"/>
|
||||
<arg name="P" value="$(arg P)"/>
|
||||
<arg name="Y" value="$(arg Y)"/>
|
||||
<arg name="world" value="$(arg world)"/>
|
||||
<arg name="vehicle" value="$(arg vehicle)"/>
|
||||
<arg name="sdf" value="$(arg sdf)"/>
|
||||
<arg name="rcS" value="$(arg rcS)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="world" value="$(arg world)"/>
|
||||
<arg name="build" value="$(arg build)"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="verbose" value="$(arg verbose)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
</include>
|
||||
|
||||
<include file="$(find px4)/launch/mavros.launch">
|
||||
|
|
@ -22,3 +50,5 @@
|
|||
<arg name="fcu_url" value="$(arg fcu_url)"/>
|
||||
</include>
|
||||
</launch>
|
||||
|
||||
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
||||
|
|
|
|||
|
|
@ -4,11 +4,14 @@
|
|||
<arg name="ns" default="/"/>
|
||||
<arg name="headless" default="true"/>
|
||||
<arg name="gui" default="false"/>
|
||||
<arg name="est" default="lpe"/>
|
||||
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="vehicle" value="iris"/>
|
||||
<arg name="est" value="$(arg est)"/>
|
||||
</include>
|
||||
|
||||
<group ns="$(arg ns)">
|
||||
|
|
|
|||
|
|
@ -4,12 +4,14 @@
|
|||
<arg name="ns" default="/"/>
|
||||
<arg name="headless" default="true"/>
|
||||
<arg name="gui" default="false"/>
|
||||
<arg name="est" default="ekf2"/>
|
||||
|
||||
<include file="$(find px4)/launch/mavros_posix_sitl.launch">
|
||||
<arg name="ns" value="$(arg ns)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="world" value="standard_vtol"/>
|
||||
<arg name="vehicle" value="standard_vtol"/>
|
||||
<arg name="est" value="$(arg est)"/>
|
||||
</include>
|
||||
|
||||
<group ns="$(arg ns)">
|
||||
|
|
|
|||
|
|
@ -1,19 +1,44 @@
|
|||
<launch>
|
||||
|
||||
<!-- Posix SITL environment launch script -->
|
||||
<arg name="x" default="0"/>
|
||||
<arg name="y" default="0"/>
|
||||
<arg name="z" default="0"/>
|
||||
<arg name="R" default="0"/>
|
||||
<arg name="P" default="0"/>
|
||||
<arg name="Y" default="0"/>
|
||||
|
||||
<arg name="est" default="lpe"/>
|
||||
<arg name="vehicle" default="iris"/>
|
||||
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
|
||||
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)"/>
|
||||
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="ns" default="/"/>
|
||||
<arg name="world" default="iris"/>
|
||||
<arg name="build" default="posix_sitl_default"/>
|
||||
|
||||
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
|
||||
<env name="no_sim" value="1" />
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="verbose" default="false"/>
|
||||
<arg name="paused" default="false"/>
|
||||
|
||||
<node name="sitl" pkg="px4" type="px4" output="screen"
|
||||
args="$(find px4) $(arg rcS)">
|
||||
</node>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
|
||||
<arg name="world_name" value="$(arg world)" />
|
||||
<arg name="debug" value="$(arg debug)" />
|
||||
<arg name="verbose" value="$(arg verbose)" />
|
||||
<arg name="paused" value="$(arg paused)" />
|
||||
</include>
|
||||
|
||||
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
|
||||
args="-sdf -file $(arg sdf) -model $(arg vehicle) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
|
||||
|
||||
|
||||
</launch>
|
||||
|
||||
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
||||
|
|
|
|||
|
|
@ -105,5 +105,5 @@ param set RC_MAP_POSCTL_SW 7
|
|||
param set RC_MAP_RETURN_SW 8
|
||||
param set MC_PITCHRATE_P 0.05
|
||||
param set MC_ROLLRATE_P 0.05
|
||||
mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
```
|
||||
|
|
|
|||
|
|
@ -60,7 +60,7 @@ mc_pos_control start
|
|||
mc_att_control start
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -60,7 +60,7 @@ navigator start
|
|||
ekf2 start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mavlink start -u 14556 -r 4000000
|
||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -47,7 +47,7 @@ ekf2 start
|
|||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
land_detector start fixedwing
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -57,7 +57,7 @@ navigator start
|
|||
ekf2 start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mavlink start -u 14556 -r 4000000
|
||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -69,7 +69,7 @@ mc_pos_control start
|
|||
mc_att_control start
|
||||
fw_pos_control_l1 start
|
||||
fw_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -59,7 +59,7 @@ navigator start
|
|||
ekf2 start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/hexa_x.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
|
||||
mavlink start -u 14556 -r 4000000
|
||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -60,7 +60,7 @@ attitude_estimator_q start
|
|||
position_estimator_inav start
|
||||
mc_pos_control_m start
|
||||
mc_att_control_m start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
||||
|
|
@ -59,7 +59,7 @@ attitude_estimator_q start
|
|||
position_estimator_inav start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -60,7 +60,7 @@ attitude_estimator_q start
|
|||
local_position_estimator start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mavlink start -u 14556 -r 4000000
|
||||
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
|
||||
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -69,7 +69,7 @@ attitude_estimator_q start
|
|||
local_position_estimator start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
|
|
@ -1,80 +0,0 @@
|
|||
uorb start
|
||||
param load
|
||||
param set MAV_TYPE 2
|
||||
param set SYS_AUTOSTART 4010
|
||||
param set SYS_RESTART_TYPE 2
|
||||
dataman start
|
||||
param set BAT_N_CELLS 3
|
||||
param set CAL_GYRO0_ID 2293768
|
||||
param set CAL_ACC0_ID 1376264
|
||||
param set CAL_ACC1_ID 1310728
|
||||
param set CAL_MAG0_ID 196616
|
||||
param set CAL_GYRO0_XOFF 0.01
|
||||
param set CAL_ACC0_XOFF 0.01
|
||||
param set CAL_ACC0_YOFF -0.01
|
||||
param set CAL_ACC0_ZOFF 0.01
|
||||
param set CAL_ACC0_XSCALE 1.01
|
||||
param set CAL_ACC0_YSCALE 1.01
|
||||
param set CAL_ACC0_ZSCALE 1.01
|
||||
param set CAL_ACC1_XOFF 0.01
|
||||
param set CAL_MAG0_XOFF 0.01
|
||||
param set MPC_XY_P 0.4
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_XY_VEL_D 0.005
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set COM_RC_IN_MODE 1
|
||||
param set NAV_DLL_ACT 2
|
||||
param set COM_DISARM_LAND 3
|
||||
param set NAV_ACC_RAD 2.0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set MIS_TAKEOFF_ALT 2.5
|
||||
param set MC_ROLLRATE_P 0.2
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLL_P 6
|
||||
param set MPC_HOLD_MAX_Z 2.0
|
||||
param set MPC_HOLD_XY_DZ 0.1
|
||||
param set MPC_Z_VEL_MAX 2.0
|
||||
param set MPC_Z_VEL_P 0.4
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
param set EKF2_MAG_TYPE 1
|
||||
replay tryapplyparams
|
||||
simulator start -s
|
||||
rgbledsim start
|
||||
tone_alarm start
|
||||
gyrosim start
|
||||
accelsim start
|
||||
barosim start
|
||||
adcsim start
|
||||
gpssim start
|
||||
#gps start -d /dev/ttyACM0 -s
|
||||
pwm_out_sim mode_pwm
|
||||
sleep 1
|
||||
sensors start
|
||||
commander start
|
||||
land_detector start multicopter
|
||||
navigator start
|
||||
ekf2 start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
||||
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u 14556
|
||||
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
|
||||
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
|
||||
sdlog2 start -r 100 -e -t -a
|
||||
logger start -e -t
|
||||
mavlink boot_complete
|
||||
replay trystart
|
||||
|
|
@ -1,80 +0,0 @@
|
|||
uorb start
|
||||
param load
|
||||
param set MAV_TYPE 2
|
||||
param set SYS_AUTOSTART 4010
|
||||
param set SYS_RESTART_TYPE 2
|
||||
dataman start
|
||||
param set BAT_N_CELLS 3
|
||||
param set CAL_GYRO0_ID 2293768
|
||||
param set CAL_ACC0_ID 1376264
|
||||
param set CAL_ACC1_ID 1310728
|
||||
param set CAL_MAG0_ID 196616
|
||||
param set CAL_GYRO0_XOFF 0.01
|
||||
param set CAL_ACC0_XOFF 0.01
|
||||
param set CAL_ACC0_YOFF -0.01
|
||||
param set CAL_ACC0_ZOFF 0.01
|
||||
param set CAL_ACC0_XSCALE 1.01
|
||||
param set CAL_ACC0_YSCALE 1.01
|
||||
param set CAL_ACC0_ZSCALE 1.01
|
||||
param set CAL_ACC1_XOFF 0.01
|
||||
param set CAL_MAG0_XOFF 0.01
|
||||
param set MPC_XY_P 0.4
|
||||
param set MPC_XY_VEL_P 0.2
|
||||
param set MPC_XY_VEL_D 0.005
|
||||
param set SENS_BOARD_ROT 0
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set COM_RC_IN_MODE 1
|
||||
param set NAV_DLL_ACT 2
|
||||
param set COM_DISARM_LAND 3
|
||||
param set NAV_ACC_RAD 2.0
|
||||
param set RTL_RETURN_ALT 30.0
|
||||
param set RTL_DESCEND_ALT 10.0
|
||||
param set RTL_LAND_DELAY 0
|
||||
param set MIS_TAKEOFF_ALT 2.5
|
||||
param set MC_ROLLRATE_P 0.2
|
||||
param set MC_PITCHRATE_P 0.2
|
||||
param set MC_PITCH_P 6
|
||||
param set MC_ROLL_P 6
|
||||
param set MPC_HOLD_MAX_Z 2.0
|
||||
param set MPC_HOLD_XY_DZ 0.1
|
||||
param set MPC_Z_VEL_MAX 2.0
|
||||
param set MPC_Z_VEL_P 0.4
|
||||
param set EKF2_GBIAS_INIT 0.01
|
||||
param set EKF2_ANGERR_INIT 0.01
|
||||
replay tryapplyparams
|
||||
simulator start -s
|
||||
rgbledsim start
|
||||
tone_alarm start
|
||||
gyrosim start
|
||||
accelsim start
|
||||
barosim start
|
||||
adcsim start
|
||||
gpssim start
|
||||
#gps start -d /dev/ttyACM0 -s
|
||||
pwm_out_sim mode_pwm
|
||||
sleep 1
|
||||
sensors start
|
||||
commander start
|
||||
land_detector start multicopter
|
||||
navigator start
|
||||
attitude_estimator_q start
|
||||
local_position_estimator start
|
||||
mc_pos_control start
|
||||
mc_att_control start
|
||||
mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
|
||||
mavlink start -u 14556 -r 2000000
|
||||
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
|
||||
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
|
||||
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
|
||||
mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
|
||||
mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
|
||||
mavlink stream -r 20 -s RC_CHANNELS -u 14556
|
||||
mavlink stream -r 250 -s HIGHRES_IMU -u 14556
|
||||
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
|
||||
mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
|
||||
sdlog2 start -r 100 -e -t -a
|
||||
logger start -e -t
|
||||
mavlink boot_complete
|
||||
replay trystart
|
||||
|
|
@ -118,17 +118,43 @@ else()
|
|||
endif()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# sitl run targets
|
||||
#
|
||||
|
||||
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
|
||||
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
|
||||
|
||||
add_custom_target(run_config
|
||||
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
|
||||
"${config_sitl_viewer}" "${config_sitl_model}" "${PX4_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMAND Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${config_sitl_rcS_dir}
|
||||
${config_sitl_debugger}
|
||||
${config_sitl_viewer}
|
||||
${config_sitl_model}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
add_dependencies(run_config px4)
|
||||
|
||||
foreach(viewer none jmavsim gazebo replay)
|
||||
foreach(debugger none gdb lldb ddd valgrind)
|
||||
foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
|
||||
# project to build sitl_gazebo if necessary
|
||||
ExternalProject_Add(sitl_gazebo
|
||||
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
|
||||
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
|
||||
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
|
||||
INSTALL_COMMAND ""
|
||||
)
|
||||
set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
|
||||
|
||||
# create targets for each viewer/model/debugger combination
|
||||
set(viewers none jmavsim gazebo replay)
|
||||
set(debuggers none gdb lldb ddd valgrind)
|
||||
set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
|
||||
foreach(viewer ${viewers})
|
||||
foreach(debugger ${debuggers})
|
||||
foreach(model ${models})
|
||||
if (debugger STREQUAL "none")
|
||||
if (model STREQUAL "none")
|
||||
set(_targ_name "${viewer}")
|
||||
|
|
@ -143,13 +169,20 @@ foreach(viewer none jmavsim gazebo replay)
|
|||
endif()
|
||||
endif()
|
||||
add_custom_target(${_targ_name}
|
||||
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
|
||||
"${debugger}"
|
||||
"${viewer}" "${model}" "${PX4_BINARY_DIR}"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
${config_sitl_rcS_dir}
|
||||
${debugger}
|
||||
${viewer}
|
||||
${model}
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
add_dependencies(${_targ_name} px4)
|
||||
if (viewer STREQUAL "gazebo")
|
||||
add_dependencies(${_targ_name} sitl_gazebo)
|
||||
endif()
|
||||
endforeach()
|
||||
endforeach()
|
||||
endforeach()
|
||||
|
|
@ -158,8 +191,25 @@ endforeach()
|
|||
# install
|
||||
#
|
||||
|
||||
install(TARGETS px4 DESTINATION bin)
|
||||
install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
|
||||
install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
|
||||
install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
|
||||
|
||||
#=============================================================================
|
||||
# tests
|
||||
#
|
||||
|
||||
add_test(NAME rcS_tests
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
||||
$<TARGET_FILE:px4>
|
||||
posix-configs/SITL/init/test
|
||||
none
|
||||
none
|
||||
none
|
||||
${PX4_SOURCE_DIR}
|
||||
${PX4_BINARY_DIR}
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR})
|
||||
set_tests_properties(rcS_tests PROPERTIES
|
||||
PASS_REGULAR_EXPRESSION "All tests passed")
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
|
|||
|
|
@ -16,7 +16,7 @@
|
|||
#if !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
#define TEST_DATA_PATH "/fs/microsd"
|
||||
#else
|
||||
#define TEST_DATA_PATH "../../../../test_data/"
|
||||
#define TEST_DATA_PATH "./test_data/"
|
||||
#endif
|
||||
|
||||
extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
|
||||
|
|
|
|||
|
|
@ -50,6 +50,7 @@
|
|||
#include "px4_middleware.h"
|
||||
#include "DriverFramework.hpp"
|
||||
#include <termios.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
|
@ -62,6 +63,12 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
|
|||
|
||||
#define CMD_BUFF_SIZE 100
|
||||
|
||||
#ifdef PATH_MAX
|
||||
const unsigned path_max_len = PATH_MAX;
|
||||
#else
|
||||
const unsigned path_max_len = 1024;
|
||||
#endif
|
||||
|
||||
static bool _ExitFlag = false;
|
||||
|
||||
static struct termios orig_term;
|
||||
|
|
@ -85,6 +92,96 @@ extern "C" {
|
|||
}
|
||||
}
|
||||
|
||||
static inline bool fileExists(const string &name)
|
||||
{
|
||||
struct stat buffer;
|
||||
return (stat(name.c_str(), &buffer) == 0);
|
||||
}
|
||||
|
||||
static inline bool dirExists(const string &path)
|
||||
{
|
||||
struct stat info;
|
||||
|
||||
if (stat(path.c_str(), &info) != 0) {
|
||||
return false;
|
||||
|
||||
} else if (info.st_mode & S_IFDIR) {
|
||||
return true;
|
||||
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
static inline void touch(const string &name)
|
||||
{
|
||||
fstream fs;
|
||||
fs.open(name, ios::out);
|
||||
fs.close();
|
||||
}
|
||||
|
||||
static int mkpath(const char *path, mode_t mode);
|
||||
|
||||
static int do_mkdir(const char *path, mode_t mode)
|
||||
{
|
||||
struct stat st;
|
||||
int status = 0;
|
||||
|
||||
if (stat(path, &st) != 0) {
|
||||
/* Directory does not exist. EEXIST for race condition */
|
||||
if (mkdir(path, mode) != 0 && errno != EEXIST) {
|
||||
status = -1;
|
||||
}
|
||||
|
||||
} else if (!S_ISDIR(st.st_mode)) {
|
||||
errno = ENOTDIR;
|
||||
status = -1;
|
||||
}
|
||||
|
||||
return (status);
|
||||
}
|
||||
|
||||
/**
|
||||
** mkpath - ensure all directories in path exist
|
||||
** Algorithm takes the pessimistic view and works top-down to ensure
|
||||
** each directory in path exists, rather than optimistically creating
|
||||
** the last element and working backwards.
|
||||
*/
|
||||
static int mkpath(const char *path, mode_t mode)
|
||||
{
|
||||
char *pp;
|
||||
char *sp;
|
||||
int status;
|
||||
char *copypath = strdup(path);
|
||||
|
||||
status = 0;
|
||||
pp = copypath;
|
||||
|
||||
while (status == 0 && (sp = strchr(pp, '/')) != 0) {
|
||||
if (sp != pp) {
|
||||
/* Neither root nor double slash in path */
|
||||
*sp = '\0';
|
||||
status = do_mkdir(copypath, mode);
|
||||
*sp = '/';
|
||||
}
|
||||
|
||||
pp = sp + 1;
|
||||
}
|
||||
|
||||
if (status == 0) {
|
||||
status = do_mkdir(path, mode);
|
||||
}
|
||||
|
||||
free(copypath);
|
||||
return (status);
|
||||
}
|
||||
|
||||
static string pwd()
|
||||
{
|
||||
char temp[path_max_len];
|
||||
return (getcwd(temp, path_max_len) ? string(temp) : string(""));
|
||||
}
|
||||
|
||||
static void print_prompt()
|
||||
{
|
||||
cout.flush();
|
||||
|
|
@ -134,12 +231,13 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
|
|||
static void usage()
|
||||
{
|
||||
|
||||
cout << "./px4 [-d] [startup_config] -h" << std::endl;
|
||||
cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
|
||||
cout << " -d - Optional flag to run the app in daemon mode and does not listen for user input." <<
|
||||
std::endl;
|
||||
cout << " This is needed if px4 is intended to be run as a upstart job on linux" << std::endl;
|
||||
cout << "<startup_config> - config file for starting/stopping px4 modules" << std::endl;
|
||||
cout << " -h - help/usage information" << std::endl;
|
||||
endl;
|
||||
cout << " This is needed if px4 is intended to be run as a upstart job on linux" << endl;
|
||||
cout << "<data_directory> - directory where romfs and posix-configs are located" << endl;
|
||||
cout << "<startup_config> - config file for starting/stopping px4 modules" << endl;
|
||||
cout << " -h - help/usage information" << endl;
|
||||
}
|
||||
|
||||
static void process_line(string &line, bool exit_on_fail)
|
||||
|
|
@ -202,52 +300,131 @@ int main(int argc, char **argv)
|
|||
set_cpu_scaling();
|
||||
|
||||
int index = 1;
|
||||
char *commands_file = nullptr;
|
||||
string commands_file = "";
|
||||
int positional_arg_count = 0;
|
||||
string data_path = "";
|
||||
string node_name = "";
|
||||
|
||||
// parse arguments
|
||||
while (index < argc) {
|
||||
//cout << "arg: " << index << " : " << argv[index] << endl;
|
||||
|
||||
if (argv[index][0] == '-') {
|
||||
// the arg starts with -
|
||||
if (strcmp(argv[index], "-d") == 0) {
|
||||
if (strncmp(argv[index], "-d", 2) == 0) {
|
||||
daemon_mode = true;
|
||||
|
||||
} else if (strcmp(argv[index], "-h") == 0) {
|
||||
} else if (strncmp(argv[index], "-h", 2) == 0) {
|
||||
usage();
|
||||
return 0;
|
||||
|
||||
} else if (strcmp(argv[index], "-c") == 0) {
|
||||
} else if (strncmp(argv[index], "-c", 2) == 0) {
|
||||
chroot_on = true;
|
||||
|
||||
} else {
|
||||
PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
|
||||
PX4_ERR("Unknown/unhandled parameter: %s", argv[index]);
|
||||
return 1;
|
||||
}
|
||||
|
||||
} else if (!strncmp(argv[index], "__", 2)) {
|
||||
//cout << "ros argument" << endl;
|
||||
|
||||
// ros arguments
|
||||
if (!strncmp(argv[index], "__name:=", 8)) {
|
||||
string name_arg = argv[index];
|
||||
node_name = name_arg.substr(8);
|
||||
cout << "node name: " << node_name << endl;
|
||||
}
|
||||
|
||||
} else {
|
||||
// this is an argument that does not have '-' prefix; treat it like a file name
|
||||
ifstream infile(argv[index]);
|
||||
//cout << "positional argument" << endl;
|
||||
|
||||
if (infile.good()) {
|
||||
infile.close();
|
||||
positional_arg_count += 1;
|
||||
|
||||
if (positional_arg_count == 1) {
|
||||
data_path = argv[index];
|
||||
cout << "data path: " << data_path << endl;
|
||||
|
||||
} else if (positional_arg_count == 2) {
|
||||
commands_file = argv[index];
|
||||
|
||||
} else {
|
||||
PX4_WARN("Error opening file: %s", argv[index]);
|
||||
return -1;
|
||||
cout << "commands file: " << commands_file << endl;
|
||||
}
|
||||
}
|
||||
|
||||
++index;
|
||||
}
|
||||
|
||||
if (positional_arg_count != 2) {
|
||||
PX4_ERR("Error expected 2 position arguments, got %d", positional_arg_count);
|
||||
usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (commands_file.size() < 1) {
|
||||
PX4_ERR("Error commands file not specified");
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (!fileExists(commands_file)) {
|
||||
PX4_ERR("Error opening commands file, does not exist: %s", commands_file.c_str());
|
||||
return -1;
|
||||
}
|
||||
|
||||
// create sym-links
|
||||
vector<string> path_sym_links;
|
||||
path_sym_links.push_back("ROMFS");
|
||||
path_sym_links.push_back("posix-configs");
|
||||
path_sym_links.push_back("test_data");
|
||||
|
||||
for (int i = 0; i < path_sym_links.size(); i++) {
|
||||
string path_sym_link = path_sym_links[i];
|
||||
//cout << "path sym link: " << path_sym_link << endl;
|
||||
string src_path = data_path + "/" + path_sym_link;
|
||||
string dest_path = pwd() + "/" + path_sym_link;
|
||||
|
||||
PX4_DEBUG("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
|
||||
|
||||
if (dirExists(path_sym_link)) { continue; }
|
||||
|
||||
// create sym-links
|
||||
int ret = symlink(src_path.c_str(), dest_path.c_str());
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("Error creating symlink %s -> %s",
|
||||
src_path.c_str(), dest_path.c_str());
|
||||
return ret;
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("Successfully created symlink %s -> %s",
|
||||
src_path.c_str(), dest_path.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
// setup rootfs
|
||||
const string eeprom_path = "./rootfs/eeprom/";
|
||||
const string microsd_path = "./rootfs/fs/microsd/";
|
||||
|
||||
if (!fileExists(eeprom_path + "parameters")) {
|
||||
cout << "creating new parameters file" << endl;
|
||||
mkpath(eeprom_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
|
||||
touch(eeprom_path + "parameters");
|
||||
}
|
||||
|
||||
if (!fileExists(microsd_path + "dataman")) {
|
||||
cout << "creating new dataman file" << endl;
|
||||
mkpath(microsd_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
|
||||
touch(microsd_path + "dataman");
|
||||
}
|
||||
|
||||
// initialize
|
||||
DriverFramework::Framework::initialize();
|
||||
px4::init_once();
|
||||
|
||||
px4::init(argc, argv, "px4");
|
||||
|
||||
// if commandfile is present, process the commands from the file
|
||||
if (commands_file != nullptr) {
|
||||
ifstream infile(commands_file);
|
||||
if (commands_file.size() != 0) {
|
||||
ifstream infile(commands_file.c_str());
|
||||
|
||||
if (infile.is_open()) {
|
||||
for (string line; getline(infile, line, '\n');) {
|
||||
|
|
@ -261,7 +438,7 @@ int main(int argc, char **argv)
|
|||
}
|
||||
|
||||
} else {
|
||||
PX4_WARN("Error opening file: %s", commands_file);
|
||||
PX4_ERR("Error opening commands file: %s", commands_file.c_str());
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -270,12 +447,6 @@ int main(int argc, char **argv)
|
|||
// this is not an attempt to secure the environment,
|
||||
// rather, to replicate a deployed file system.
|
||||
|
||||
#ifdef PATH_MAX
|
||||
const unsigned path_max_len = PATH_MAX;
|
||||
#else
|
||||
const unsigned path_max_len = 1024;
|
||||
#endif
|
||||
|
||||
char pwd_path[path_max_len];
|
||||
const char *folderpath = "/rootfs/";
|
||||
|
||||
|
|
|
|||
|
|
@ -96,7 +96,7 @@ int test_mixer(int argc, char *argv[])
|
|||
#if !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
const char *filename = "/etc/mixers/IO_pass.mix";
|
||||
#else
|
||||
const char *filename = "../../../../ROMFS/px4fmu_test/mixers/IO_pass.mix";
|
||||
const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix";
|
||||
#endif
|
||||
|
||||
//PX4_INFO("loading: %s", filename);
|
||||
|
|
@ -406,7 +406,7 @@ int test_mixer(int argc, char *argv[])
|
|||
#if !defined(CONFIG_ARCH_BOARD_SITL)
|
||||
filename = "/etc/mixers/quad_test.mix";
|
||||
#else
|
||||
filename = "../../../../ROMFS/px4fmu_test/mixers/quad_test.mix";
|
||||
filename = "ROMFS/px4fmu_test/mixers/quad_test.mix";
|
||||
#endif
|
||||
|
||||
load_mixer_file(filename, &buf[0], sizeof(buf));
|
||||
|
|
|
|||
Loading…
Reference in New Issue