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gz small improvements (#24761)

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* gz: print version number in init, remove gst plugin spam, rename function

* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions

* format

* change gzerr to gzwarn
This commit is contained in:
Jacob Dahl
2025-05-04 14:41:19 -08:00
committed by GitHub
parent 918848095a
commit 2fece23c64
4 changed files with 222 additions and 104 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+3 -3
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@@ -1,8 +1,6 @@
#!/bin/sh
# shellcheck disable=SC2154
echo "INFO [init] Gazebo simulator"
# Enforce minimum gz version as Harmonic (gz-sim8)
MIN_GZ_VERSION="8.0.0"
GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
@@ -17,6 +15,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
gz_command="gz"
gz_sub_command="sim"
echo "INFO [init] Gazebo simulator $GZ_SIM_VERSION"
# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,7 +24,7 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
fi
else
echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
exit 1
fi