merge px4_sitl_ign into px4_sitl_default (#20188)

- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
 - simulator_ignition_bridge only try setting the system clock in
lockstep builds
 - this simplifies usage and CI system dependencies

.vscode/cmake-variants.yaml

@@ -6,11 +6,6 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
-    px4_sitl_ign:
-      short: px4_sitl_ign
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_ign
     px4_sitl_rtps:
       short: px4_sitl_rtps
       buildType: RelWithDebInfo

.vscode/tasks.json

@@ -56,15 +56,17 @@
             "options": {
                 "cwd": "${workspaceFolder}/Tools/simulation/jmavsim/jMAVSim"
             },
-            "problemMatcher": [],
+            "presentation": {
-            "presentation":{
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
                 "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": []
         },
         {
             "label": "jmavsim",
@@ -81,24 +83,28 @@
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": []
         },
         {
             "label": "jmavsim kill",
             "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
+            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}') || true",
             "presentation": {
-                "echo": false,
+                "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [],
             "dependsOn":["px4_sitl_cleanup"]
@@ -110,15 +116,17 @@
             "options": {
                 "cwd": "${workspaceFolder}"
             },
-            "problemMatcher": [],
+            "presentation": {
-            "presentation":{
                 "echo": true,
-                "reveal": "always",
+                "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
                 "clear": false,
-            }
+                "close": true
+            },
+            "problemMatcher": [],
         },
         {
             "label": "gazebo start",
@@ -132,15 +140,17 @@
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/${input:gazeboWorld}.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [
                 {
@@ -172,15 +182,17 @@
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/${input:gazeboModel}/${input:gazeboModel}.sdf --model-name=${input:gazeboModel} -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
                 "reveal": "never",
+                "revealProblems": "onProblem",
                 "focus": false,
-                "panel": "shared",
+                "panel": "dedicated",
                 "showReuseMessage": false,
-                "clear": false
+                "clear": false,
+                "close": true
             },
             "problemMatcher": [
                 {
@@ -207,38 +219,22 @@
                 "cwd": "${workspaceFolder}",
                 "env": {
                     "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
             "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
-                "reveal": "never",
+                "reveal": "always",
                 "revealProblems": "onProblem",
-                "focus": false,
+                "focus": true,
                 "panel": "dedicated",
                 "showReuseMessage": false,
                 "clear": false,
-                "close": true
+                "close": false
             },
-            "problemMatcher": [
+            "problemMatcher": [],
-                {
+            "dependsOn":["ign gazebo kill"]
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
         },
         {
             "label": "gazebo kill",
@@ -260,7 +256,7 @@
         {
             "label": "ign gazebo kill",
             "type": "shell",
-            "command": "pkill -9 -f ign || true",
+            "command": "pkill -9 -f 'ign gazebo' || true",
             "presentation": {
                 "echo": true,
                 "reveal": "never",
@@ -352,40 +348,6 @@
                 "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": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
-            ],
-            "default": "empty"
         }
     ]
 }

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -33,11 +33,11 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		# starting ign gazebo with ${PX4_SIM_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
 
+		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+
 		if [ -z $HEADLESS ]; then
-			ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+			# HEADLESS not set, starting ign gazebo gui
-		else
+			ign gazebo -g &
-			# starting ign gazebo headless
-			ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
 		fi
 	else
 		echo "INFO  [init] ign gazebo already running world: $ign_world"

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,6 +1,9 @@
 #!/bin/sh
 
-set -e
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -66,7 +69,7 @@ set PARAM_BACKUP_FILE parameters_backup.bson
 
 param select $PARAM_FILE
 if [ -f $PARAM_FILE ]; then
-	set +e # disable exit on error control for param import
+
 	if ! param import
 	then
 		echo "ERROR [init] param import failed"
@@ -92,7 +95,6 @@ if [ -f $PARAM_FILE ]; then
 
 		param status
 	fi
-	set -e # restore exit on error control
 
 elif [ -f $PARAM_BACKUP_FILE ]; then
 	echo "ERROR [init] primary param file $PARAM_FILE unavailable, using backup $PARAM_BACKUP_FILE"

boards/px4/sitl/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y

boards/px4/sitl/ign.px4board

@@ -1,7 +0,0 @@
-CONFIG_COMMON_SIMULATION=n
-CONFIG_BOARD_LOCKSTEP=y
-CONFIG_MODULES_SIMULATION_BATTERY_SIMULATOR=y
-CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
-CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
-CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y

platforms/posix/CMakeLists.txt

@@ -113,11 +113,8 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	if(${PX4_BOARD_LABEL} MATCHES "replay")
 		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
 
-	elseif(${PX4_CONFIG} MATCHES "px4_sitl_ign")
-		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_ignition.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
-
 	else()
-		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl_default.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
+		configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
 	endif()
 
 	set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)

platforms/posix/Debug/launch_sitl.json.in

@@ -1,6 +1,51 @@
 {
     "version": "0.2.0",
     "configurations": [
+        {
+            "name": "SITL (Ignition Gazebo)",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${command:cmake.launchTargetPath}",
+            "args": [
+                "${workspaceFolder}/ROMFS/px4fmu_common",
+                "-s", "etc/init.d-posix/rcS"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${command:cmake.buildDirectory}/rootfs",
+            "environment": [
+                {
+                    "name": "PX4_SIM_MODEL",
+                    "value": "${input:PX4_IGN_GZ_SIM_MODEL}"
+                }
+            ],
+            "externalConsole": false,
+            "postDebugTask": "ign gazebo kill",
+            "linux": {
+                "MIMode": "gdb",
+                "externalConsole": false,
+                "setupCommands": [
+                    {
+                        "description": "Enable pretty-printing for gdb",
+                        "text": "-enable-pretty-printing",
+                        "ignoreFailures": true
+                    },
+                    {
+                        "description": "PX4 ignore wq signals",
+                        "text": "handle SIGCONT nostop noprint nopass",
+                        "ignoreFailures": true
+                    }
+                ]
+            },
+            "osx": {
+                "MIMode": "lldb",
+                "externalConsole": true,
+                "setupCommands": [
+                    {
+                        "text": "pro hand -p true -s false -n false SIGCONT",
+                    }
+                ]
+            }
+        },
         {
             "name": "SITL (sihsim 10040_quadx)",
             "type": "cppdbg",
@@ -46,7 +91,7 @@
             }
         },
         {
-            "name": "SITL (Gazebo Classic)",
+            "name": "SITL (Gazebo Classic iris)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
@@ -58,7 +103,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_SIM_MODEL}"
+                    "value": "iris"
                 }
             ],
             "externalConsole": false,
@@ -106,6 +151,7 @@
                     "value": "iris"
                 }
             ],
+            "externalConsole": false,
             "preLaunchTask": "jmavsim",
             "postDebugTask": "jmavsim kill",
             "linux": {
@@ -180,21 +226,12 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "PX4_SIM_MODEL",
+            "id": "PX4_IGN_GZ_SIM_MODEL",
-            "description": "PX4_SIM_MODEL",
+            "description": "Ignition Gazebo vehicle model",
             "options": [
-              "iris",
+              "x500",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
             ],
-            "default": "iris"
+            "default": "x500"
-          }
+        }
     ]
 }

platforms/posix/Debug/launch_sitl_ignition.json.in

@@ -1,63 +0,0 @@
-{
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "SITL (Ignition Gazebo)",
-            "type": "cppdbg",
-            "request": "launch",
-            "program": "${command:cmake.launchTargetPath}",
-            "args": [
-                "${workspaceFolder}/ROMFS/px4fmu_common",
-                "-s", "etc/init.d-posix/rcS"
-            ],
-            "stopAtEntry": false,
-            "cwd": "${command:cmake.buildDirectory}/rootfs",
-            "environment": [
-                {
-                    "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_SIM_MODEL}"
-                }
-            ],
-            "externalConsole": false,
-            "preLaunchTask": "ign gazebo",
-            "postDebugTask": "ign gazebo kill",
-            "linux": {
-                "MIMode": "gdb",
-                "externalConsole": false,
-                "setupCommands": [
-                    {
-                        "description": "Enable pretty-printing for gdb",
-                        "text": "-enable-pretty-printing",
-                        "ignoreFailures": true
-                    },
-                    {
-                        "description": "PX4 ignore wq signals",
-                        "text": "handle SIGCONT nostop noprint nopass",
-                        "ignoreFailures": true
-                    }
-                ]
-            },
-            "osx": {
-                "MIMode": "lldb",
-                "externalConsole": true,
-                "setupCommands": [
-                    {
-                        "text": "pro hand -p true -s false -n false SIGCONT",
-                    }
-                ]
-            }
-        }
-    ],
-    "inputs": [
-        {
-            "type": "pickString",
-            "id": "PX4_SIM_MODEL",
-            "description": "PX4_SIM_MODEL",
-            "options": [
-              "x500",
-              "x4"
-            ],
-            "default": "x500"
-          }
-    ]
-}

src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt

@@ -31,71 +31,76 @@
 #
 ############################################################################
 
-add_compile_options(-frtti -fexceptions)
-
 # Find the Ignition_Transport library
 find_package(ignition-transport
-	REQUIRED COMPONENTS core
+	#REQUIRED COMPONENTS core
 	NAMES
 		ignition-transport8
 		ignition-transport10
 		ignition-transport11
 	#QUIET
 )
-set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
 
-px4_add_module(
+if(ignition-transport_FOUND)
-	MODULE modules__simulation__ignition_bridge
-	MAIN simulator_ignition_bridge
-	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
-	SRCS
-		SimulatorIgnitionBridge.cpp
-		SimulatorIgnitionBridge.hpp
-	DEPENDS
-		mixer_module
-		px4_work_queue
-		ignition-transport${IGN_TRANSPORT_VER}::core
-	MODULE_CONFIG
-		module.yaml
-)
 
-file(GLOB ign_models
+	add_compile_options(-frtti -fexceptions)
-	LIST_DIRECTORIES true
-	RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
-	CONFIGURE_DEPENDS
-	${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
-)
 
-file(GLOB ign_worlds
+	set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
-	CONFIGURE_DEPENDS
-	${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
-)
 
-foreach(model ${ign_models})
+	px4_add_module(
-	foreach(world ${ign_worlds})
+		MODULE modules__simulation__ignition_bridge
+		MAIN simulator_ignition_bridge
+		COMPILE_FLAGS
+			${MAX_CUSTOM_OPT_LEVEL}
+		SRCS
+			SimulatorIgnitionBridge.cpp
+			SimulatorIgnitionBridge.hpp
+		DEPENDS
+			mixer_module
+			px4_work_queue
+			ignition-transport${IGN_TRANSPORT_VER}::core
+		MODULE_CONFIG
+			module.yaml
+	)
 
-		get_filename_component("world_name" ${world} NAME_WE)
+	file(GLOB ign_models
+		LIST_DIRECTORIES true
+		RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
+		CONFIGURE_DEPENDS
+		${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
+	)
 
-		if(world_name MATCHES "default")
+	file(GLOB ign_worlds
-			add_custom_target(ign_${model}
+		CONFIGURE_DEPENDS
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
+		${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
-				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	)
-				USES_TERMINAL
+
-				DEPENDS px4
+	foreach(model ${ign_models})
-			)
+		foreach(world ${ign_worlds})
-		else()
+
-			add_custom_target(ign_${model}_${world_name}
+			get_filename_component("world_name" ${world} NAME_WE)
-				COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+
-				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+			if(world_name MATCHES "default")
-				USES_TERMINAL
+				add_custom_target(ign_${model}
-				DEPENDS px4
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
-			)
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
-		endif()
+					USES_TERMINAL
+					DEPENDS px4
+				)
+			else()
+				add_custom_target(ign_${model}_${world_name}
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+					WORKING_DIRECTORY ${SITL_WORKING_DIR}
+					USES_TERMINAL
+					DEPENDS px4
+				)
+			endif()
+		endforeach()
 	endforeach()
-endforeach()
 
 
-# TODO: PX4_IGN_MODELS_PATH
+	# TODO: PX4_IGN_MODELS_PATH
-# PX4_IGN_WORLDS_PATH
+	# PX4_IGN_WORLDS_PATH
-configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
+	configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
+
+endif()

src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp

@@ -237,6 +237,7 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 
 bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
 {
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	ts.tv_sec = tv_sec;
 	ts.tv_nsec = tv_nsec;
@@ -246,6 +247,8 @@ bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t
 		return true;
 	}
 
+#endif // ENABLE_LOCKSTEP_SCHEDULER
+
 	return false;
 }