From 6991ac014c3fee22ece820b82326a036468e51ee Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 15 Jan 2023 11:36:12 -0500 Subject: [PATCH] rename 'gazebo' simulation to 'gazebo-classic' (#20936) - use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11) - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo) --- .github/workflows/mavros_mission_tests.yml | 4 +- .github/workflows/mavros_offboard_tests.yml | 4 +- .github/workflows/sitl_tests.yml | 6 +- .gitmodules | 6 +- .vscode/tasks.json | 26 ++--- Makefile | 17 ++-- ..._gazebo_iris => 10016_gazebo-classic_iris} | 0 ... => 10018_gazebo-classic_iris_foggy_lidar} | 0 ...copter => 10019_gazebo-classic_omnicopter} | 0 ...4vision => 10030_gazebo-classic_px4vision} | 0 ...flow => 1010_gazebo-classic_iris_opt_flow} | 0 ...=> 1010_gazebo-classic_iris_opt_flow.post} | 0 ...irlock => 1011_gazebo-classic_iris_irlock} | 0 ...lidar => 1012_gazebo-classic_iris_rplidar} | 0 ...vision => 1013_gazebo-classic_iris_vision} | 0 ...t => 1013_gazebo-classic_iris_vision.post} | 0 ...oid => 1015_gazebo-classic_iris_obs_avoid} | 0 ...> 1015_gazebo-classic_iris_obs_avoid.post} | 0 ... 1017_gazebo-classic_iris_opt_flow_mockup} | 0 ..._gps => 1019_gazebo-classic_iris_dual_gps} | 0 ...us => 1021_gazebo-classic_uuv_hippocampus} | 0 ...=> 1022_gazebo-classic_uuv_bluerov2_heavy} | 0 ...gazebo_plane => 1030_gazebo-classic_plane} | 0 ...lane_cam => 1031_gazebo-classic_plane_cam} | 0 ...ult => 1032_gazebo-classic_plane_catapult} | 0 ...bo_techpod => 1035_gazebo-classic_techpod} | 0 ..._believer => 1037_gazebo-classic_believer} | 0 ...zebo_glider => 1038_gazebo-classic_glider} | 0 ...ane => 1039_gazebo-classic_advanced_plane} | 0 ...vtol => 1040_gazebo-classic_standard_vtol} | 0 ...lsitter => 1041_gazebo-classic_tailsitter} | 0 ...iltrotor => 1042_gazebo-classic_tiltrotor} | 0 ...=> 1043_gazebo-classic_standard_vtol_drop} | 0 ..._lidar => 1044_gazebo-classic_plane_lidar} | 0 ...gazebo_rover => 1060_gazebo-classic_rover} | 0 ..._r1_rover => 1061_gazebo-classic_r1_rover} | 0 ...0_gazebo_boat => 1070_gazebo-classic_boat} | 0 ...loudship => 2507_gazebo-classic_cloudship} | 0 ..._h480 => 6011_gazebo-classic_typhoon_h480} | 0 ... => 6011_gazebo-classic_typhoon_h480.post} | 0 .../init.d-posix/airframes/CMakeLists.txt | 68 ++++++------- .../setup_gazebo.bash | 6 +- .../sitl_gazebo-classic} | 0 .../sitl_multiple_run.sh | 14 +-- .../{gazebo => gazebo-classic}/sitl_run.sh | 16 +-- Tools/simulation/sitl_multiple_run.sh | 2 +- launch/posix_sitl.launch | 2 +- launch/px4.launch | 2 +- launch/single_vehicle_spawn.launch | 2 +- launch/single_vehicle_spawn_sdf.launch | 4 +- platforms/posix/CMakeLists.txt | 22 ++--- platforms/posix/Debug/launch_sitl.json.in | 6 +- .../simulator_mavlink/CMakeLists.txt | 2 +- ...make => sitl_targets_gazebo-classic.cmake} | 97 +++++++++++-------- test/mavsdk_tests/process_helper.py | 12 ++- test/rostest_px4_run.sh | 4 +- 56 files changed, 169 insertions(+), 153 deletions(-) rename ROMFS/px4fmu_common/init.d-posix/airframes/{10016_gazebo_iris => 10016_gazebo-classic_iris} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{10018_gazebo_iris_foggy_lidar => 10018_gazebo-classic_iris_foggy_lidar} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{10019_gazebo_omnicopter => 10019_gazebo-classic_omnicopter} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{10030_gazebo_px4vision => 10030_gazebo-classic_px4vision} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1010_gazebo_iris_opt_flow => 1010_gazebo-classic_iris_opt_flow} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1010_gazebo_iris_opt_flow.post => 1010_gazebo-classic_iris_opt_flow.post} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1011_gazebo_iris_irlock => 1011_gazebo-classic_iris_irlock} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1012_gazebo_iris_rplidar => 1012_gazebo-classic_iris_rplidar} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1013_gazebo_iris_vision => 1013_gazebo-classic_iris_vision} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1013_gazebo_iris_vision.post => 1013_gazebo-classic_iris_vision.post} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1015_gazebo_iris_obs_avoid => 1015_gazebo-classic_iris_obs_avoid} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1015_gazebo_iris_obs_avoid.post => 1015_gazebo-classic_iris_obs_avoid.post} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1017_gazebo_iris_opt_flow_mockup => 1017_gazebo-classic_iris_opt_flow_mockup} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1019_gazebo_iris_dual_gps => 1019_gazebo-classic_iris_dual_gps} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1021_gazebo_uuv_hippocampus => 1021_gazebo-classic_uuv_hippocampus} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1022_gazebo_uuv_bluerov2_heavy => 1022_gazebo-classic_uuv_bluerov2_heavy} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1030_gazebo_plane => 1030_gazebo-classic_plane} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1031_gazebo_plane_cam => 1031_gazebo-classic_plane_cam} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1032_gazebo_plane_catapult => 1032_gazebo-classic_plane_catapult} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1035_gazebo_techpod => 1035_gazebo-classic_techpod} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1037_gazebo_believer => 1037_gazebo-classic_believer} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1038_gazebo_glider => 1038_gazebo-classic_glider} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1039_gazebo_advanced_plane => 1039_gazebo-classic_advanced_plane} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1040_gazebo_standard_vtol => 1040_gazebo-classic_standard_vtol} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1041_gazebo_tailsitter => 1041_gazebo-classic_tailsitter} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1042_gazebo_tiltrotor => 1042_gazebo-classic_tiltrotor} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1043_gazebo_standard_vtol_drop => 1043_gazebo-classic_standard_vtol_drop} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1044_gazebo_plane_lidar => 1044_gazebo-classic_plane_lidar} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1060_gazebo_rover => 1060_gazebo-classic_rover} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1061_gazebo_r1_rover => 1061_gazebo-classic_r1_rover} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{1070_gazebo_boat => 1070_gazebo-classic_boat} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{2507_gazebo_cloudship => 2507_gazebo-classic_cloudship} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{6011_gazebo_typhoon_h480 => 6011_gazebo-classic_typhoon_h480} (100%) rename ROMFS/px4fmu_common/init.d-posix/airframes/{6011_gazebo_typhoon_h480.post => 6011_gazebo-classic_typhoon_h480.post} (100%) rename Tools/simulation/{gazebo => gazebo-classic}/setup_gazebo.bash (91%) rename Tools/simulation/{gazebo/sitl_gazebo => gazebo-classic/sitl_gazebo-classic} (100%) rename Tools/simulation/{gazebo => gazebo-classic}/sitl_multiple_run.sh (77%) rename Tools/simulation/{gazebo => gazebo-classic}/sitl_run.sh (83%) rename src/modules/simulation/simulator_mavlink/{sitl_targets_gazebo.cmake => sitl_targets_gazebo-classic.cmake} (50%) diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml index f90cf096901c..7e95b1fff082 100644 --- a/.github/workflows/mavros_mission_tests.yml +++ b/.github/workflows/mavros_mission_tests.yml @@ -59,13 +59,13 @@ jobs: run: | export ulimit -a - - name: Build PX4 and sitl_gazebo + - name: Build PX4 and sitl_gazebo-classic env: PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} run: | ccache -z make px4_sitl_default - make px4_sitl_default sitl_gazebo + make px4_sitl_default sitl_gazebo-classic ccache -s - name: Core dump settings diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml index 8cd707f0e0a3..812f63fec406 100644 --- a/.github/workflows/mavros_offboard_tests.yml +++ b/.github/workflows/mavros_offboard_tests.yml @@ -54,13 +54,13 @@ jobs: run: | export ulimit -a - - name: Build PX4 and sitl_gazebo + - name: Build PX4 and sitl_gazebo-classic env: PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} run: | ccache -z make px4_sitl_default - make px4_sitl_default sitl_gazebo + make px4_sitl_default sitl_gazebo-classic ccache -s - name: Core dump settings diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index 9ba892d2ccd6..3282c797c5f7 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -74,14 +74,14 @@ jobs: - name: Build SITL Gazebo env: PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: make px4_sitl_default sitl_gazebo - - name: ccache post-run sitl_gazebo + run: make px4_sitl_default sitl_gazebo-classic + - name: ccache post-run sitl_gazebo-classic run: ccache -s - name: Build MAVSDK tests env: PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} DONT_RUN: 1 - run: make px4_sitl_default sitl_gazebo mavsdk_tests + run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests - name: ccache post-run mavsdk_tests run: ccache -s diff --git a/.gitmodules b/.gitmodules index a8e90fddc241..78c67073e10d 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,9 +10,9 @@ path = Tools/simulation/jmavsim/jMAVSim url = https://github.com/PX4/jMAVSim.git branch = main -[submodule "Tools/simulation/gazebo/sitl_gazebo"] - path = Tools/simulation/gazebo/sitl_gazebo - url = https://github.com/PX4/PX4-SITL_gazebo.git +[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"] + path = Tools/simulation/gazebo-classic/sitl_gazebo-classic + url = https://github.com/PX4/PX4-SITL_gazebo-classic.git branch = main [submodule "src/drivers/gps/devices"] path = src/drivers/gps/devices diff --git a/.vscode/tasks.json b/.vscode/tasks.json index f8756d573bd9..7e04d089b081 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -67,9 +67,9 @@ "dependsOn":["px4_sitl_cleanup"] }, { - "label": "gazebo build", + "label": "gazebo-classic build", "type": "shell", - "command": "make px4_sitl_default sitl_gazebo", + "command": "make px4_sitl_default sitl_gazebo-classic", "options": { "cwd": "${workspaceFolder}" }, @@ -86,18 +86,18 @@ "problemMatcher": [], }, { - "label": "gazebo start", + "label": "gazebo-classic start", "type": "shell", - "dependsOn": "gazebo build", + "dependsOn": "gazebo-classic build", "options": { "cwd": "${workspaceFolder}", "env": { - "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", - "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models", + "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic", + "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models", "PX4_SIM_SPEED_FACTOR": "1" } }, - "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world", + "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world", "isBackground": true, "presentation": { "echo": true, @@ -128,18 +128,18 @@ ] }, { - "label": "gazebo", + "label": "gazebo-classic", "type": "shell", - "dependsOn": "gazebo start", + "dependsOn": "gazebo-classic start", "options": { "cwd": "${workspaceFolder}", "env": { - "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo", - "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models", + "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic", + "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models", "PX4_SIM_SPEED_FACTOR": "1" } }, - "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83", + "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83", "isBackground": false, "presentation": { "echo": true, @@ -194,7 +194,7 @@ "dependsOn":["ign gazebo kill"] }, { - "label": "gazebo kill", + "label": "gazebo-classic kill", "type": "shell", "command": "pkill -9 -f gzserver || true", "presentation": { diff --git a/Makefile b/Makefile index b33d48514a0b..c067ce8a526b 100644 --- a/Makefile +++ b/Makefile @@ -388,17 +388,17 @@ tests_coverage: rostest: px4_sitl_default - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo + @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic tests_integration: px4_sitl_default - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo + @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic @$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json tests_integration_coverage: @$(MAKE) clean @$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo + @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic @$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests @"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json @mkdir -p coverage @@ -408,13 +408,13 @@ tests_mission: rostest @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test rostest_run: px4_sitl_default - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo + @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic @"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE) tests_mission_coverage: @$(MAKE) clean @$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage - @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage + @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol @$(MAKE) --no-print-directory px4_sitl_default generate_coverage @@ -489,7 +489,7 @@ validate_module_configs: # Cleanup # -------------------------------------------------------------------- -.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean +.PHONY: clean submodulesclean submodulesupdate distclean clean: @[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails @@ -507,10 +507,7 @@ submodulesupdate: @git submodule update --init --recursive --jobs 4 @git fetch --all --tags --recurse-submodules=yes --jobs=4 -gazeboclean: - @rm -rf ~/.gazebo/* - -distclean: gazeboclean +distclean: @git submodule deinit --force $(SRC_DIR) @rm -rf "$(SRC_DIR)/build" @git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/" diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris b/ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo_iris rename to ROMFS/px4fmu_common/init.d-posix/airframes/10016_gazebo-classic_iris diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo_iris_foggy_lidar rename to ROMFS/px4fmu_common/init.d-posix/airframes/10018_gazebo-classic_iris_foggy_lidar diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo_omnicopter rename to ROMFS/px4fmu_common/init.d-posix/airframes/10019_gazebo-classic_omnicopter diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision b/ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo_px4vision rename to ROMFS/px4fmu_common/init.d-posix/airframes/10030_gazebo-classic_px4vision diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo_iris_opt_flow.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock b/ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo_iris_irlock rename to ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo_iris_rplidar rename to ROMFS/px4fmu_common/init.d-posix/airframes/1012_gazebo-classic_iris_rplidar diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo_iris_vision.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/1013_gazebo-classic_iris_vision.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo_iris_obs_avoid.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo_iris_opt_flow_mockup rename to ROMFS/px4fmu_common/init.d-posix/airframes/1017_gazebo-classic_iris_opt_flow_mockup diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps b/ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo_iris_dual_gps rename to ROMFS/px4fmu_common/init.d-posix/airframes/1019_gazebo-classic_iris_dual_gps diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus b/ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo_uuv_hippocampus rename to ROMFS/px4fmu_common/init.d-posix/airframes/1021_gazebo-classic_uuv_hippocampus diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo_uuv_bluerov2_heavy rename to ROMFS/px4fmu_common/init.d-posix/airframes/1022_gazebo-classic_uuv_bluerov2_heavy diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo_plane rename to ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo_plane_cam rename to ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo_plane_catapult rename to ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod b/ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo_techpod rename to ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo_believer rename to ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo_glider rename to ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo_advanced_plane rename to ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo_standard_vtol rename to ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo_tailsitter rename to ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo_tiltrotor rename to ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo_standard_vtol_drop rename to ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo_plane_lidar rename to ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo_rover rename to ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo_r1_rover rename to ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo_boat rename to ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo_cloudship rename to ROMFS/px4fmu_common/init.d-posix/airframes/2507_gazebo-classic_cloudship diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480 b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480 rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post b/ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480.post similarity index 100% rename from ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo_typhoon_h480.post rename to ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480.post diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index e9e1e436cc65..7e682b00117d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -33,39 +33,39 @@ px4_add_romfs_files( - 1010_gazebo_iris_opt_flow - 1010_gazebo_iris_opt_flow.post - 1011_gazebo_iris_irlock - 1012_gazebo_iris_rplidar - 1013_gazebo_iris_vision - 1013_gazebo_iris_vision.post - 1015_gazebo_iris_obs_avoid - 1015_gazebo_iris_obs_avoid.post - 1017_gazebo_iris_opt_flow_mockup - 1019_gazebo_iris_dual_gps - 1021_gazebo_uuv_hippocampus - 1022_gazebo_uuv_bluerov2_heavy - 1030_gazebo_plane - 1031_gazebo_plane_cam - 1032_gazebo_plane_catapult + 1010_gazebo-classic_iris_opt_flow + 1010_gazebo-classic_iris_opt_flow.post + 1011_gazebo-classic_iris_irlock + 1012_gazebo-classic_iris_rplidar + 1013_gazebo-classic_iris_vision + 1013_gazebo-classic_iris_vision.post + 1015_gazebo-classic_iris_obs_avoid + 1015_gazebo-classic_iris_obs_avoid.post + 1017_gazebo-classic_iris_opt_flow_mockup + 1019_gazebo-classic_iris_dual_gps + 1021_gazebo-classic_uuv_hippocampus + 1022_gazebo-classic_uuv_bluerov2_heavy + 1030_gazebo-classic_plane + 1031_gazebo-classic_plane_cam + 1032_gazebo-classic_plane_catapult 1033_jsbsim_rascal 1034_flightgear_rascal-electric - 1035_gazebo_techpod + 1035_gazebo-classic_techpod 1036_jsbsim_malolo - 1037_gazebo_believer - 1038_gazebo_glider - 1039_gazebo_advanced_plane - 1040_gazebo_standard_vtol - 1041_gazebo_tailsitter - 1042_gazebo_tiltrotor - 1043_gazebo_standard_vtol_drop - 1044_gazebo_plane_lidar - 1060_gazebo_rover - 1061_gazebo_r1_rover + 1037_gazebo-classic_believer + 1038_gazebo-classic_glider + 1039_gazebo-classic_advanced_plane + 1040_gazebo-classic_standard_vtol + 1041_gazebo-classic_tailsitter + 1042_gazebo-classic_tiltrotor + 1043_gazebo-classic_standard_vtol_drop + 1044_gazebo-classic_plane_lidar + 1060_gazebo-classic_rover + 1061_gazebo-classic_r1_rover 1062_flightgear_tf-r1 - 1070_gazebo_boat + 1070_gazebo-classic_boat - 2507_gazebo_cloudship + 2507_gazebo-classic_cloudship 3010_jsbsim_quadrotor_x 3011_jsbsim_hexarotor_x @@ -73,14 +73,14 @@ px4_add_romfs_files( 4001_gz_x500 4002_gz_x500_depth - 6011_gazebo_typhoon_h480 - 6011_gazebo_typhoon_h480.post + 6011_gazebo-classic_typhoon_h480 + 6011_gazebo-classic_typhoon_h480.post - 10016_gazebo_iris + 10016_gazebo-classic_iris 10017_jmavsim_iris - 10018_gazebo_iris_foggy_lidar - 10019_gazebo_omnicopter - 10030_gazebo_px4vision + 10018_gazebo-classic_iris_foggy_lidar + 10019_gazebo-classic_omnicopter + 10030_gazebo-classic_px4vision 10040_sihsim_quadx 10041_sihsim_airplane diff --git a/Tools/simulation/gazebo/setup_gazebo.bash b/Tools/simulation/gazebo-classic/setup_gazebo.bash similarity index 91% rename from Tools/simulation/gazebo/setup_gazebo.bash rename to Tools/simulation/gazebo-classic/setup_gazebo.bash index 1663fef77987..7829c929c654 100755 --- a/Tools/simulation/gazebo/setup_gazebo.bash +++ b/Tools/simulation/gazebo-classic/setup_gazebo.bash @@ -16,9 +16,9 @@ SRC_DIR=$1 BUILD_DIR=$2 # setup Gazebo env and update package path -export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo -export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models -export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo +export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic +export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models +export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH" echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH" diff --git a/Tools/simulation/gazebo/sitl_gazebo b/Tools/simulation/gazebo-classic/sitl_gazebo-classic similarity index 100% rename from Tools/simulation/gazebo/sitl_gazebo rename to Tools/simulation/gazebo-classic/sitl_gazebo-classic diff --git a/Tools/simulation/gazebo/sitl_multiple_run.sh b/Tools/simulation/gazebo-classic/sitl_multiple_run.sh similarity index 77% rename from Tools/simulation/gazebo/sitl_multiple_run.sh rename to Tools/simulation/gazebo-classic/sitl_multiple_run.sh index 4148e851b253..1d8cdbf8bca4 100755 --- a/Tools/simulation/gazebo/sitl_multiple_run.sh +++ b/Tools/simulation/gazebo-classic/sitl_multiple_run.sh @@ -1,10 +1,10 @@ #!/bin/bash # run multiple instances of the 'px4' binary, with the gazebo SITL simulation -# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo' +# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic' # The simulator is expected to send to TCP port 4560+i for i in [0, N-1] # For example gazebo can be run like this: -#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris +#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris function cleanup() { pkill -x px4 @@ -35,7 +35,7 @@ function spawn_model() { pushd "$working_dir" &>/dev/null echo "starting instance $N in $(pwd)" $build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log & - python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf + python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf echo "Spawning ${MODEL}_${N} at ${X} ${Y}" @@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3} world=${WORLD:=empty} target=${TARGET:=px4_sitl_default} vehicle_model=${VEHICLE_MODEL:="iris"} -export PX4_SIM_MODEL=gazebo_${vehicle_model} +export PX4_SIM_MODEL=gazebo-classic_${vehicle_model} echo ${SCRIPT} SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" @@ -84,7 +84,7 @@ pkill -x px4 || true sleep 1 -source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target} +source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target} # To use gazebo_ros ROS2 plugins if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then @@ -94,7 +94,7 @@ else fi echo "Starting gazebo" -gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args & +gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args & sleep 5 n=0 @@ -126,7 +126,7 @@ else m=0 while [ $m -lt ${target_number} ]; do - export PX4_SIM_MODEL=gazebo_${target_vehicle} + export PX4_SIM_MODEL=gazebo-classic_${target_vehicle} spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y m=$(($m + 1)) n=$(($n + 1)) diff --git a/Tools/simulation/gazebo/sitl_run.sh b/Tools/simulation/gazebo-classic/sitl_run.sh similarity index 83% rename from Tools/simulation/gazebo/sitl_run.sh rename to Tools/simulation/gazebo-classic/sitl_run.sh index def7ac462f32..741d064dd628 100755 --- a/Tools/simulation/gazebo/sitl_run.sh +++ b/Tools/simulation/gazebo-classic/sitl_run.sh @@ -67,7 +67,7 @@ fi # be running from last time pkill -x gazebo || true -export PX4_SIM_MODEL=gazebo_${model} +export PX4_SIM_MODEL=gazebo-classic_${model} export PX4_SIM_WORLD=${world} SIM_PID=0 @@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then model_name="${model}" # Set the plugin path so Gazebo finds our model and sim - source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}" + source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}" if [ -z $PX4_SITL_WORLD ]; then #Spawn predefined world if [ "$world" == "none" ]; then - if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then + if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then echo "empty world, default world ${model}.world for model found" - world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world" + world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world" else echo "empty world, setting empty.world as default" - world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world" + world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world" fi else #Spawn empty world if world with model name doesn't exist - world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world" + world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world" fi else - if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then + if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then # Spawn world by name if exists in the worlds directory from environment variable - world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world" + world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world" else # Spawn world from environment variable with absolute path world_path="$PX4_SITL_WORLD" diff --git a/Tools/simulation/sitl_multiple_run.sh b/Tools/simulation/sitl_multiple_run.sh index 22b92bfbb1a5..207ee5766442 100755 --- a/Tools/simulation/sitl_multiple_run.sh +++ b/Tools/simulation/sitl_multiple_run.sh @@ -19,7 +19,7 @@ pkill -x px4 || true sleep 1 -export PX4_SIM_MODEL=gazebo_iris +export PX4_SIM_MODEL=gazebo-classic_iris n=0 while [ $n -lt $sitl_num ]; do diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch index 127364fd1e38..25afb71c4eb5 100644 --- a/launch/posix_sitl.launch +++ b/launch/posix_sitl.launch @@ -14,7 +14,7 @@ - + diff --git a/launch/px4.launch b/launch/px4.launch index dc29942fa90c..294798042062 100644 --- a/launch/px4.launch +++ b/launch/px4.launch @@ -9,7 +9,7 @@ - + diff --git a/launch/single_vehicle_spawn.launch b/launch/single_vehicle_spawn.launch index beb9dcde248b..57668e101d8b 100644 --- a/launch/single_vehicle_spawn.launch +++ b/launch/single_vehicle_spawn.launch @@ -13,7 +13,7 @@ - + diff --git a/launch/single_vehicle_spawn_sdf.launch b/launch/single_vehicle_spawn_sdf.launch index e96f8270faa1..7b3a74bb7cd2 100644 --- a/launch/single_vehicle_spawn_sdf.launch +++ b/launch/single_vehicle_spawn_sdf.launch @@ -13,13 +13,13 @@ - + - + diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt index c65cfbac79d2..5aaa82c32c39 100644 --- a/platforms/posix/CMakeLists.txt +++ b/platforms/posix/CMakeLists.txt @@ -168,7 +168,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl") # px4 Tools files install( PROGRAMS - ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/setup_gazebo.bash + ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${PROJECT_SOURCE_DIR}/Tools/upload_log.py DESTINATION ${PROJECT_NAME}/Tools @@ -182,10 +182,10 @@ elseif("${PX4_BOARD}" MATCHES "sitl") ${PROJECT_NAME}/build/px4_sitl_default ) - # sitl_gazebo built plugins + # sitl_gazebo-classic built plugins install( DIRECTORY - ${PX4_BINARY_DIR}/build_gazebo + ${PX4_BINARY_DIR}/build_gazebo-classic DESTINATION ${PROJECT_NAME}/build/px4_sitl_default FILES_MATCHING @@ -193,22 +193,22 @@ elseif("${PX4_BOARD}" MATCHES "sitl") PATTERN "*.so" ) - # sitl_gazebo dirs + # sitl_gazebo-classic dirs install( DIRECTORY - ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models - ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/worlds + ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models + ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds DESTINATION - ${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo + ${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic ) - # sitl_gazebo files + # sitl_gazebo-classic files install( FILES - ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/CMakeLists.txt - ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/package.xml + ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt + ${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/package.xml DESTINATION - ${PROJECT_NAME}/Tools/simulation/gazebo/sitl_gazebo + ${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic ) endif() diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in index 1cd0fa6cdb16..56c295fb69d2 100644 --- a/platforms/posix/Debug/launch_sitl.json.in +++ b/platforms/posix/Debug/launch_sitl.json.in @@ -99,12 +99,12 @@ "environment": [ { "name": "PX4_SIM_MODEL", - "value": "gazebo_iris" + "value": "gazebo-classic_iris" } ], "externalConsole": false, - "preLaunchTask": "gazebo", - "postDebugTask": "gazebo kill", + "preLaunchTask": "gazebo-classic", + "postDebugTask": "gazebo-classic kill", "linux": { "MIMode": "gdb", "externalConsole": false, diff --git a/src/modules/simulation/simulator_mavlink/CMakeLists.txt b/src/modules/simulation/simulator_mavlink/CMakeLists.txt index f1dfaedfef6d..fecb2070428a 100644 --- a/src/modules/simulation/simulator_mavlink/CMakeLists.txt +++ b/src/modules/simulation/simulator_mavlink/CMakeLists.txt @@ -56,6 +56,6 @@ px4_add_module( ) include(sitl_targets_flightgear.cmake) -include(sitl_targets_gazebo.cmake) +include(sitl_targets_gazebo-classic.cmake) include(sitl_targets_jmavsim.cmake) include(sitl_targets_jsbsim.cmake) diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake similarity index 50% rename from src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake rename to src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake index ee765e34ac54..2aae2343f979 100644 --- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake +++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake @@ -3,7 +3,7 @@ find_package(gazebo) if(gazebo_FOUND) - message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and targets") + message(STATUS "Found gazebo-classic ${gazebo_VERSION}, including sitl_gazebo-classic simulator and gazebo-classic targets") # Estimate an appropriate number of parallel jobs cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY) @@ -40,17 +40,17 @@ if(gazebo_FOUND) # Limiting sitl_gazebo concurrent jobs to ${parallel_jobs}") # project to build sitl_gazebo if necessary - px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo") + px4_add_git_submodule(TARGET git_sitl_gazebo-classic PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic") include(ExternalProject) - ExternalProject_Add(sitl_gazebo - SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo + ExternalProject_Add(sitl_gazebo-classic + SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON - BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo + BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo-classic INSTALL_COMMAND "" - DEPENDS git_gazebo + DEPENDS git_sitl_gazebo-classic USES_TERMINAL_CONFIGURE true USES_TERMINAL_BUILD true EXCLUDE_FROM_ALL true @@ -114,34 +114,34 @@ if(gazebo_FOUND) ) # find corresponding airframes - file(GLOB gazebo_airframes - RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes - ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo_* + file(GLOB gazebo-classic_airframes + RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes + ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gazebo-classic_* ) # remove any .post files - foreach(gazebo_airframe IN LISTS gazebo_airframes) - if(gazebo_airframe MATCHES ".post") - list(REMOVE_ITEM gazebo_airframes ${gazebo_airframe}) + foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes) + if(gazebo-classic_airframe MATCHES ".post") + list(REMOVE_ITEM gazebo-classic_airframes ${gazebo-classic_airframe}) endif() endforeach() - list(REMOVE_DUPLICATES gazebo_airframes) + list(REMOVE_DUPLICATES gazebo-classic_airframes) - foreach(gazebo_airframe IN LISTS gazebo_airframes) + foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes) set(model_only) - string(REGEX REPLACE ".*_gazebo_" "" model_only ${gazebo_airframe}) + string(REGEX REPLACE ".*_gazebo-classic_" "" model_only ${gazebo-classic_airframe}) - if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}") + if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}") - if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf") - OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only}/${model_only}.sdf.jinja")) + if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf") + OR (EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only}/${model_only}.sdf.jinja")) #message(STATUS "SDF file found for ${model_only}") else() message(WARNING "No SDF file found for ${model_only}") endif() else() - message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_gazebo/models/${model_only} not found") + message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${model_only} not found") endif() endforeach() @@ -151,73 +151,90 @@ if(gazebo_FOUND) # match model to airframe set(airframe_model_only) set(airframe_sys_autostart) - set(gazebo_airframe_found) - foreach(gazebo_airframe IN LISTS gazebo_airframes) + set(gazebo-classic_airframe_found) + foreach(gazebo-classic_airframe IN LISTS gazebo-classic_airframes) - string(REGEX REPLACE ".*_gazebo_" "" airframe_model_only ${gazebo_airframe}) - string(REGEX REPLACE "_gazebo_.*" "" airframe_sys_autostart ${gazebo_airframe}) + string(REGEX REPLACE ".*_gazebo-classic_" "" airframe_model_only ${gazebo-classic_airframe}) + string(REGEX REPLACE "_gazebo-classic_.*" "" airframe_sys_autostart ${gazebo-classic_airframe}) if(model STREQUAL ${airframe_model_only}) - set(gazebo_airframe_found ${gazebo_airframe}) + set(gazebo-classic_airframe_found ${gazebo-classic_airframe}) break() endif() endforeach() - if(gazebo_airframe_found) - #message(STATUS "gazebo model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") + if(gazebo-classic_airframe_found) + #message(STATUS "gazebo-classic model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") else() - message(WARNING "gazebo missing model: ${model} (${airframe_model_only}), airframe: ${gazebo_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") + message(WARNING "gazebo-classic missing model: ${model} (${airframe_model_only}), airframe: ${gazebo-classic_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}") endif() foreach(world ${worlds}) if(world STREQUAL "none") if(debugger STREQUAL "none") if(model STREQUAL "none") - set(_targ_name "gazebo") + set(_targ_name "gazebo-classic") else() - set(_targ_name "gazebo_${model}") + set(_targ_name "gazebo-classic_${model}") endif() else() if(model STREQUAL "none") - set(_targ_name "gazebo___${debugger}") + set(_targ_name "gazebo-classic___${debugger}") else() - set(_targ_name "gazebo_${model}_${debugger}") + set(_targ_name "gazebo-classic_${model}_${debugger}") endif() endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $ ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} + COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $ ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL - DEPENDS px4 sitl_gazebo + DEPENDS px4 sitl_gazebo-classic + ) + + string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name}) + add_custom_target(${_targ_name_compat} + COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}" + COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name} + USES_TERMINAL + VERBATIM ) else() if(debugger STREQUAL "none") if(model STREQUAL "none") - set(_targ_name "gazebo___${world}") + set(_targ_name "gazebo-classic___${world}") else() - set(_targ_name "gazebo_${model}__${world}") + set(_targ_name "gazebo-classic_${model}__${world}") endif() else() if(model STREQUAL "none") - set(_targ_name "gazebo__${debugger}_${world}") + set(_targ_name "gazebo-classic__${debugger}_${world}") else() - set(_targ_name "gazebo_${model}_${debugger}_${world}") + set(_targ_name "gazebo-classic_${model}_${debugger}_${world}") endif() endif() add_custom_target(${_targ_name} - COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $ ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} + COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $ ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} WORKING_DIRECTORY ${SITL_WORKING_DIR} USES_TERMINAL - DEPENDS px4 sitl_gazebo + DEPENDS px4 sitl_gazebo-classic + ) + + string(REPLACE "gazebo-classic" "gazebo" _targ_name_compat ${_targ_name}) + add_custom_target(${_targ_name_compat} + COMMAND ${CMAKE_COMMAND} -E cmake_echo_color --red "WARNING ${_targ_name_compat} target DEPRECATED, please use ${_targ_name}" + COMMAND ${CMAKE_COMMAND} --build ${PX4_BINARY_DIR} -- ${_targ_name} + USES_TERMINAL + VERBATIM ) endif() endforeach() endforeach() endforeach() - add_custom_target(gazebo DEPENDS gazebo_iris) # alias + add_custom_target(gazebo-classic DEPENDS gazebo-classic_iris) # alias + add_custom_target(gazebo DEPENDS gazebo-classic_iris) # alias # mavsdk tests currently depend on sitl_gazebo ExternalProject_Add(mavsdk_tests diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py index e2abe6cc2087..fa6bc95b4e32 100644 --- a/test/mavsdk_tests/process_helper.py +++ b/test/mavsdk_tests/process_helper.py @@ -10,8 +10,10 @@ import errno from typing import Any, Dict, List, TextIO, Optional -PX4_GAZEBO_MODELS = "Tools/simulation/gazebo/sitl_gazebo/models" -PX4_GAZEBO_WORLDS = "Tools/simulation/gazebo/sitl_gazebo/worlds" +PX4_SITL_GAZEBO_PATH = "Tools/simulation/gazebo-classic/sitl_gazebo-classic" + +PX4_GAZEBO_MODELS = PX4_SITL_GAZEBO_PATH + "/models" +PX4_GAZEBO_WORLDS = PX4_SITL_GAZEBO_PATH + "/worlds" class Runner: @@ -164,7 +166,7 @@ def __init__(self, workspace_dir: str, log_dir: str, os.path.join(workspace_dir, "test_data"), "-d" ] - self.env["PX4_SIM_MODEL"] = "gazebo_" + self.model + self.env["PX4_SIM_MODEL"] = "gazebo-classic_" + self.model self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor) self.debugger = debugger self.clear_rootfs() @@ -224,7 +226,7 @@ def __init__(self, self.name = "gzserver" self.cwd = workspace_dir self.env["GAZEBO_PLUGIN_PATH"] = \ - os.path.join(workspace_dir, build_dir, "build_gazebo") + os.path.join(workspace_dir, build_dir, "build_gazebo-classic") self.env["GAZEBO_MODEL_PATH"] = \ os.path.join(workspace_dir, PX4_GAZEBO_MODELS) self.env["PX4_SIM_SPEED_FACTOR"] = str(speed_factor) @@ -262,7 +264,7 @@ def __init__(self, self.name = "gzmodelspawn" self.cwd = workspace_dir self.env["GAZEBO_PLUGIN_PATH"] = \ - os.path.join(workspace_dir, build_dir, "build_gazebo") + os.path.join(workspace_dir, build_dir, "build_gazebo-classic") self.env["GAZEBO_MODEL_PATH"] = \ os.path.join(workspace_dir, PX4_GAZEBO_MODELS) self.cmd = "gz" diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh index 981441499351..f3964d82a17d 100755 --- a/test/rostest_px4_run.sh +++ b/test/rostest_px4_run.sh @@ -4,9 +4,9 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) PX4_SRC_DIR=${DIR}/.. source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash -source ${PX4_SRC_DIR}/Tools/simulation/gazebo/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default +source ${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default -export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo +export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic export ROS_LOG_DIR="$HOME/.ros/ros_logs" mkdir -p "$ROS_LOG_DIR"