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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
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+40 -34
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@@ -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