px4-firmware/Tools/sitl_run.sh

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#!/usr/bin/env bash
set -e
if [ "$#" -lt 7 ]; then
echo usage: sitl_run.sh sitl_bin debugger program model world src_path build_path
exit 1
fi
if [[ -n "$DONT_RUN" ]]; then
echo "Not running simulation (DONT_RUN is set)."
exit 0
fi
sitl_bin="$1"
debugger="$2"
program="$3"
model="$4"
world="$5"
src_path="$6"
build_path="$7"
# The rest of the arguments are files to copy into the working dir.
echo SITL ARGS
echo sitl_bin: $sitl_bin
echo debugger: $debugger
echo program: $program
echo model: $model
echo world: $world
echo src_path: $src_path
echo build_path: $build_path
rootfs="$build_path/tmp/rootfs" # this is the working directory
mkdir -p "$rootfs"
# To disable user input
if [[ -n "$NO_PXH" ]]; then
no_pxh=-d
else
no_pxh=""
fi
# To disable user input
if [[ -n "$VERBOSE_SIM" ]]; then
verbose="--verbose"
else
verbose=""
fi
# Disable follow mode
if [[ "$PX4_NO_FOLLOW_MODE" != "1" ]]; then
follow_mode="--gui-client-plugin libgazebo_user_camera_plugin.so"
else
follow_mode=""
fi
# To use gazebo_ros ROS2 plugins
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
else
ros_args=""
fi
if [ "$program" == "jmavsim" ]; then
jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
if [ -n "$jmavsim_pid" ]; then
kill $jmavsim_pid
fi
fi
if [ "$model" == "" ] || [ "$model" == "none" ]; then
if [ "$program" == "jsbsim" ]; then
echo "empty model, setting rascal as default for jsbsim"
model="rascal"
else
echo "empty model, setting iris as default"
model="iris"
fi
fi
# kill process names that might stil
# be running from last time
pkill -x gazebo || true
# Do NOT kill PX4 if debug in ide
if [ "$debugger" != "ide" ]; then
pkill -x px4 || true
pkill -x px4_$model || true
fi
cp "$src_path/Tools/posix_lldbinit" "$rootfs/.lldbinit"
cp "$src_path/Tools/posix.gdbinit" "$rootfs/.gdbinit"
shift 7
for file in "$@"; do
cp "$file" $rootfs/
done
export PX4_SIM_MODEL=${model}
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
# Start Java simulator
"$src_path"/Tools/jmavsim_run.sh -r 250 -l &
SIM_PID=$!
elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
if [ -x "$(command -v gazebo)" ]; then
# Get the model name
model_name="${model}"
# Check if a 'modelname-gen.sdf' file exist for the models using jinja and generating the SDF files
if [ -f "${src_path}/Tools/sitl_gazebo/models/${model}/${model}-gen.sdf" ]; then
model_name="${model}-gen"
fi
# Set the plugin path so Gazebo finds our model and sim
source "$src_path/Tools/setup_gazebo.bash" "${src_path}" "${build_path}"
if [ -z $PX4_SITL_WORLD ]; then
#Spawn predefined world
if [ "$world" == "none" ]; then
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
echo "empty world, default world ${model}.world for model found"
world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
else
echo "empty world, setting empty.world as default"
world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
fi
else
#Spawn empty world if world with model name doesn't exist
world_path="${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
fi
else
if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
# Spawn world by name if exists in the worlds directory from environment variable
world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
else
# Spawn world from environment variable with absolute path
world_path="$PX4_SITL_WORLD"
fi
fi
gzserver $verbose $world_path $ros_args &
SIM_PID=$!
# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
IFS_bak=$IFS
IFS=":"
for possible_model_path in ${GAZEBO_MODEL_PATH}; do
if [ -z $possible_model_path ]; then
continue
fi
# trim \r from path
possible_model_path=$(echo $possible_model_path | tr -d '\r')
if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
modelpath=$possible_model_path
break
fi
done
IFS=$IFS_bak
if [ -z $modelpath ]; then
echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
exit 1
else
echo "Using: ${modelpath}/${model}/${model}.sdf"
fi
while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
echo "gzserver not ready yet, trying again!"
sleep 1
done
if [[ -n "$HEADLESS" ]]; then
echo "not running gazebo gui"
else
# gzserver needs to be running to avoid a race. Since the launch
# is putting it into the background we need to avoid it by backing off
sleep 3
nice -n 20 gzclient --verbose $follow_mode &
GUI_PID=$!
fi
else
echo "You need to have gazebo simulator installed!"
exit 1
fi
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
echo "Ignition Gazebo"
if [[ -n "$HEADLESS" ]]; then
ignition_headless="-s"
else
ignition_headless=""
fi
source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
echo "FG setup"
cd "${src_path}/Tools/flightgear_bridge/"
"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
FG_BRIDGE_PID=$!
elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
if [[ -n "$HEADLESS" ]]; then
echo "not running flightgear gui"
else
fgfs --fdm=null \
--native-fdm=socket,in,60,,5550,udp \
--aircraft=$JSBSIM_AIRCRAFT_MODEL \
--airport=${world} \
--disable-hud \
--disable-ai-models &> /dev/null &
FGFS_PID=$!
fi
"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
JSBSIM_PID=$!
fi
pushd "$rootfs" >/dev/null
# Do not exit on failure now from here on because we want the complete cleanup
set +e
if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
else
sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
fi
echo SITL COMMAND: $sitl_command
if [ "$debugger" == "lldb" ]; then
eval lldb -- $sitl_command
elif [ "$debugger" == "gdb" ]; then
eval gdb --args $sitl_command
elif [ "$debugger" == "ddd" ]; then
eval ddd --debugger gdb --args $sitl_command
elif [ "$debugger" == "valgrind" ]; then
eval valgrind --track-origins=yes --leak-check=full -v $sitl_command
elif [ "$debugger" == "callgrind" ]; then
eval valgrind --tool=callgrind -v $sitl_command
elif [ "$debugger" == "ide" ]; then
echo "######################################################################"
echo
echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
echo "Hit enter to quit..."
echo
echo "######################################################################"
read
else
eval $sitl_command
fi
popd >/dev/null
if [ "$program" == "jmavsim" ]; then
pkill -9 -P $SIM_PID
kill -9 $SIM_PID
elif [ "$program" == "gazebo" ]; then
kill -9 $SIM_PID
if [[ ! -n "$HEADLESS" ]]; then
kill -9 $GUI_PID
fi
elif [ "$program" == "flightgear" ]; then
kill $FG_BRIDGE_PID
kill -9 `cat /tmp/px4fgfspid_0`
elif [ "$program" == "jsbsim" ]; then
kill $JSBSIM_PID
kill $FGFS_PID
fi