mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:16:50 +08:00
new Ignition Gazebo simulation interface architecture (#20057)
- much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
This commit is contained in:
Daniel Agar
GitHub
Vendored
+28
-141
@@ -118,124 +118,28 @@
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},
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"problemMatcher": []
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},
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{
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"label": "gazebo build",
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"type": "shell",
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"command": "make px4_sitl_default sitl_gazebo",
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"options": {
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"cwd": "${workspaceFolder}"
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},
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"problemMatcher": [],
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"presentation":{
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"echo": true,
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"reveal": "always",
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"focus": false,
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"panel": "shared",
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"showReuseMessage": false,
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"clear": false,
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}
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},
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{
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"label": "gazebo start",
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"type": "shell",
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"dependsOn": "gazebo build",
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"options": {
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"cwd": "${workspaceFolder}",
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"env": {
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
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"PX4_SIM_SPEED_FACTOR": "1"
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}
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},
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"command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
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"isBackground": true,
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"presentation": {
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"echo": true,
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"reveal": "never",
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"focus": false,
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"panel": "shared",
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"showReuseMessage": false,
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"clear": false
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},
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"problemMatcher": [
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{
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"pattern": [
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{
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"regexp": ".",
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"file": 1,
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"location": 2,
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"message": 3
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}
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],
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"background": {
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"activeOnStart": true,
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"beginsPattern": ".",
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"endsPattern": ".",
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}
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}
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]
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},
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{
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"label": "gazebo",
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"type": "shell",
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"dependsOn": "gazebo start",
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"options": {
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"cwd": "${workspaceFolder}",
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"env": {
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
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"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
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"PX4_SIM_SPEED_FACTOR": "1"
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}
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},
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"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
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"isBackground": false,
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"presentation": {
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"echo": true,
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"reveal": "never",
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"focus": false,
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"panel": "shared",
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"showReuseMessage": false,
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"clear": false
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},
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"problemMatcher": [
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{
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"pattern": [
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{
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"regexp": ".",
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"file": 1,
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"location": 2,
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"message": 3
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}
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],
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"background": {
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"activeOnStart": true,
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"beginsPattern": ".",
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"endsPattern": ".",
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}
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}
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]
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},
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{
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"label": "gazebo client",
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"type": "shell",
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"dependsOn": "gazebo build",
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"options": {
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"cwd": "${workspaceFolder}",
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"env": {
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"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
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"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
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"PX4_SIM_SPEED_FACTOR": "1"
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}
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},
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"command": "gzclient --verbose",
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"command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
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"isBackground": true,
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"presentation": {
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"echo": true,
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"reveal": "never",
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"revealProblems": "onProblem",
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"focus": false,
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"panel": "shared",
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"panel": "dedicated",
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"showReuseMessage": false,
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"clear": false
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"clear": false,
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"close": true
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},
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"problemMatcher": [
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{
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@@ -255,32 +159,38 @@
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}
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]
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},
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{
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"label": "gazebo kill",
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"type": "shell",
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"command": "killall gzserver",
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"command": "pkill -9 -f ign || true",
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"presentation": {
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"echo": true,
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"reveal": "silent",
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"reveal": "never",
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"revealProblems": "onProblem",
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"focus": false,
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"panel": "shared",
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"panel": "dedicated",
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"showReuseMessage": false,
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"clear": false
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"clear": false,
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"close": true
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},
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"problemMatcher": [],
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"dependsOn":["px4_sitl_cleanup"]
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},
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{
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"label": "px4_sitl_cleanup",
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"type": "shell",
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"command": "rm -rfv /tmp/px4*",
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"command": "rm -rfv /tmp/px4* || true",
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"presentation": {
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"echo": true,
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"reveal": "silent",
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"reveal": "never",
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"revealProblems": "onProblem",
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"focus": false,
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"panel": "shared",
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"panel": "dedicated",
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"showReuseMessage": false,
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"clear": false
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"clear": false,
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"close": true
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},
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"problemMatcher": [],
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"dependsOn":["px4_kill"]
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@@ -288,14 +198,16 @@
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{
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"label": "px4_kill",
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"type": "shell",
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"command": "killall px4 || true",
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"command": "pkill -9 px4 || true",
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"presentation": {
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"echo": true,
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"reveal": "silent",
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"reveal": "never",
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"revealProblems": "onProblem",
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"focus": false,
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"panel": "shared",
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"panel": "dedicated",
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"showReuseMessage": false,
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"clear": false
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"clear": false,
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"close": true
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},
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"problemMatcher": []
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},
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@@ -335,37 +247,12 @@
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}
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],
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"inputs": [
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{
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"type": "pickString",
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"id": "vehicleModel",
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"description": "gazebo model",
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"options": [
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"iris",
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"typhoon_h480",
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"plane",
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"plane_catapult",
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"plane_lidar",
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"standard_vtol",
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"tailsitter",
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"tiltrotor",
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"r1_rover",
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"boat"
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],
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"default": "iris"
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},
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{
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"type": "pickString",
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"id": "gazeboWorld",
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"description": "gazebo world",
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"options": [
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"baylands",
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"empty",
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"ksql_airport",
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"mcmillan_airfield",
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"sonoma_raceway",
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"warehouse",
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"windy",
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"yosemite"
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"empty"
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],
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"default": "empty"
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}
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