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Standalone px4 stable (#22467)

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simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.

* rolled back updates

Signed-off-by: frederik <frederik@auterion.com>

* fixing empy

Signed-off-by: frederik <frederik@auterion.com>

* Update GZBridge.cpp to lower drop position 

Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.

* Update STANDALONE env variable.

* Update STANDALONE env_variable on GZBridge

* Update src/modules/simulation/gz_bridge/GZBridge.cpp

Co-authored-by: Daniel Agar <daniel@agar.ca>

* test removal of x500

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* removed all models and reworked logic

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* remove model path in set_sdf_filename

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* filter resource path for world sdf

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* updated structure to keep old make px4_sitl

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* remove gz tools

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* import gz as submodule and reverse rc simulator logic

Signed-off-by: frederik <frederik.anilmarkus@gmail.com>

* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* Typo fix

---------

Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Frederik Markus
2023-12-18 09:43:20 +01:00
committed by GitHub
parent 6ffc5a9eae
commit 65e53286b6
66 changed files with 101 additions and 11603 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+3
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@@ -76,3 +76,6 @@
path = src/lib/heatshrink/heatshrink
url = https://github.com/PX4/heatshrink.git
branch = px4
[submodule "Tools/simulation/gz"]
path = Tools/simulation/gz
url = https://github.com/PX4/PX4-gazebo-models.git
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+40 -34
View File
@@ -51,44 +51,50 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
fi
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
if [ -z "${PX4_GZ_STANDALONE}" ]; then
elif [ -f ../gz_env.sh ]; then
. ../gz_env.sh
fi
# "gz sim" only avaiilable in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
# "gz sim" only available in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
else
echo "ERROR [init] Gazebo gz please install gz-garden"
exit 1
fi
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh
elif [ -f ../gz_env.sh ]; then
. ../gz_env.sh
fi
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
fi
else
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
else
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
echo "INFO [init] Standalone PX4 launch, waiting for Gazebo"
fi
# start gz_bridge
Tools/simulation/gz
Submodule
+1
Submodule Tools/simulation/gz added at c00a635975
Tools/simulation/gz/models/advanced_plane/model.config
-14
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@@ -1,14 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Advanced Plane</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Karthik Srivatsan</name>
</author>
<description>
This is a model of a standard plane, which uses the advanced liftdrag plugin.
</description>
</model>
Tools/simulation/gz/models/advanced_plane/model.sdf
-578
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File diff suppressed because it is too large Load Diff
Tools/simulation/gz/models/omnicopter/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Omnicopter</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>
<author>
<name>Jaeyoung Lim</name>
<email>jalim@ethz.ch</email>
</author>
<description>
Omnicopter model for over actuated system
</description>
</model>
Tools/simulation/gz/models/omnicopter/model.sdf
-8
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@@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<include>
<name>omnicopter</name>
<pose>0 0 0.2 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
</include>
</sdf>
Tools/simulation/gz/models/px4vision/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>PX4 Vision</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>
<author>
<name>Jaeyoung Lim</name>
<email>jaeyoung@auterion.com</email>
</author>
<description>
This is a model of the Holybro PX4 Vision
</description>
</model>
Tools/simulation/gz/models/px4vision/model.sdf
-10
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@@ -1,10 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='px4vision'>
<include>
<uri>
https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision
</uri>
</include>
</model>
</sdf>
Tools/simulation/gz/models/rc_cessna/meshes/body.dae
-4173
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File diff suppressed because one or more lines are too long
Tools/simulation/gz/models/rc_cessna/meshes/elevators.dae
-165
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@@ -1,165 +0,0 @@
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<modified>2015-05-26T23:41:25Z</modified>
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Tools/simulation/gz/models/rc_cessna/meshes/iris_prop_ccw.dae
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Tools/simulation/gz/models/rc_cessna/meshes/iris_prop_cw.dae
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Tools/simulation/gz/models/rc_cessna/meshes/left_aileron.dae
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Tools/simulation/gz/models/rc_cessna/meshes/right_aileron.dae
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Tools/simulation/gz/models/rc_cessna/meshes/rudder.dae
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<?xml version="1.0"?>
<model>
<name>rc_cessna</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>
This is a model of an RC Cessna 182.
</description>
</model>
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<?xml version="1.0"?>
<model>
<name>Standard VTOL</name>
<version>1.0</version>
<sdf version='1.10'>model.sdf</sdf>
<author>
<name>Roman Bapst</name>
<email>roman@px4.io</email>
</author>
<description>
This is a model of a standard VTOL quad plane.
</description>
</model>
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Tools/simulation/gz/models/x500/model.config
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<?xml version="1.0"?>
<model>
<name>x500</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
</model>
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Tools/simulation/gz/models/x500_depth/model.config
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<?xml version="1.0"?>
<model>
<name>x500-Depth</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
</model>
Tools/simulation/gz/models/x500_depth/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-Depth'>
<include merge='true'>
<uri>x500</uri>
</include>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
<pose>.12 .03 .242 0 0 0</pose>
</include>
<joint name="CameraJoint" type="fixed">
<parent>base_link</parent>
<child>OakD-Lite/base_link</child>
<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
</joint>
</model>
</sdf>
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