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px4-rc.simulator support launching new Gazebo Garden vs Fortress (#20864)

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- "ign gazebo" command is now "gz sim" as of Gazebo Garden
This commit is contained in:
Daniel Agar
2023-01-04 12:39:06 -05:00
committed by GitHub
parent 21e88f64b4
commit ca9ae80b10
1 changed files with 24 additions and 7 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+24 -7
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@@ -27,8 +27,25 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
. ../gazebo_env.sh
fi
gz_command="ign" # "ign" before garden
gz_sub_command="gazebo" # "gazebo" before garden
# "gz sim" only avaiilable in Garden and later
GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
if [ $? -eq 0 ]
then
# "gz sim" from Garden on
gz_command="gz"
gz_sub_command="sim"
else
IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
if [ $? -eq 0 ]
then
# "ign gazebo" for Fortress and earlier
gz_command="ign"
gz_sub_command="gazebo"
else
echo "ERROR [init] Gazebo gz and ign commands unavailable"
exit 1
fi
fi
# look for running ${gz_command} gazebo world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
@@ -41,8 +58,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
# HEADLESS not set, starting ign gazebo gui
${gz_command} gazebo -g &
# HEADLESS not set, starting gui
${gz_command} ${gz_sub_command} -g &
fi
else
@@ -71,7 +88,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
sensor_mag_sim start
else
echo "ERROR [init] gazebo failed to start"
echo "ERROR [init] gz_bridge failed to start"
exit 1
fi
@@ -84,7 +101,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
sensor_mag_sim start
else
echo "ERROR [init] gazebo failed to start"
echo "ERROR [init] gz_bridge failed to start"
exit 1
fi
@@ -98,7 +115,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
sensor_mag_sim start
else
echo "ERROR [init] gazebo failed to start"
echo "ERROR [init] gz_bridge failed to start"
exit 1
fi