Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 09:26:25 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

simulation organization and cleanup

Browse Source 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
2022-08-22 11:00:03 -04:00
parent 6b2509cbba
commit 4040e4cdf2
200 changed files with 1778 additions and 2806 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.vscode/cmake-variants.yaml
Vendored
+1 -1
View File
@@ -2,7 +2,7 @@ CONFIG:
default: px4_sitl_default
choices:
px4_sitl_default:
short: px4_sitl
short: px4_sitl_default
buildType: RelWithDebInfo
settings:
CONFIG: px4_sitl_default
.vscode/tasks.json
Vendored
+143 -12
View File
@@ -54,7 +54,7 @@
"type": "shell",
"command": "ant create_run_jar copy_res",
"options": {
"cwd": "${workspaceFolder}/Tools/jMAVSim"
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
},
"problemMatcher": [],
"presentation":{
@@ -72,7 +72,7 @@
"dependsOn": "jmavsim build",
"command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
"options": {
"cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
"cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim/out/production",
"env": {
"PX4_SIM_SPEED_FACTOR": "1"
}
@@ -86,6 +86,62 @@
"showReuseMessage": false,
"clear": false
},
"problemMatcher": []
},
{
"label": "jmavsim kill",
"type": "shell",
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
"presentation": {
"echo": false,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": false
},
"problemMatcher": [],
"dependsOn":["px4_sitl_cleanup"]
},
{
"label": "gazebo build",
"type": "shell",
"command": "make px4_sitl_default sitl_gazebo",
"options": {
"cwd": "${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/simulation/gazebo/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
"isBackground": true,
"presentation": {
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": false
},
"problemMatcher": [
{
"pattern": [
@@ -105,31 +161,56 @@
]
},
{
"label": "jmavsim kill",
"label": "gazebo",
"type": "shell",
"command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
"dependsOn": "gazebo start",
"options": {
"cwd": "${workspaceFolder}",
"env": {
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
"isBackground": false,
"presentation": {
"echo": false,
"echo": true,
"reveal": "never",
"focus": false,
"panel": "shared",
"showReuseMessage": false,
"clear": false
},
"problemMatcher": []
"problemMatcher": [
{
"pattern": [
{
"regexp": ".",
"file": 1,
"location": 2,
"message": 3
}
],
"background": {
"activeOnStart": true,
"beginsPattern": ".",
"endsPattern": ".",
}
}
]
},
{
"label": "gazebo",
"label": "ign gazebo",
"type": "shell",
"options": {
"cwd": "${workspaceFolder}",
"env": {
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
"PX4_SIM_SPEED_FACTOR": "1"
}
},
"command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
"command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
"isBackground": true,
"presentation": {
"echo": true,
@@ -159,10 +240,26 @@
}
]
},
{
"label": "gazebo kill",
"type": "shell",
"command": "pkill -9 -f gzserver || true",
"presentation": {
"echo": true,
"reveal": "never",
"revealProblems": "onProblem",
"focus": false,
"panel": "dedicated",
"showReuseMessage": false,
"clear": false,
"close": true
},
"problemMatcher": [],
"dependsOn":["px4_sitl_cleanup"]
},
{
"label": "ign gazebo kill",
"type": "shell",
"command": "pkill -9 -f ign || true",
"presentation": {
"echo": true,
@@ -247,12 +344,46 @@
}
],
"inputs": [
{
"type": "pickString",
"id": "ignWorld",
"description": "Ignition world",
"options": [
"default"
],
"default": "default"
},
{
"type": "pickString",
"id": "gazeboModel",
"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": [
"empty"
"baylands",
"empty",
"ksql_airport",
"mcmillan_airfield",
"sonoma_raceway",
"warehouse",
"windy",
"yosemite"
],
"default": "empty"
}