From 49fed9dd6c5f142d67dafdb353115c5b209c8398 Mon Sep 17 00:00:00 2001 From: Frederik Markus <80588263+frede791@users.noreply.github.com> Date: Wed, 6 Dec 2023 17:10:27 +0100 Subject: [PATCH] added simulation to README (#15) Signed-off-by: frederik --- README.md | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/README.md b/README.md index 2bc8ee5..05ede2d 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,35 @@ # PX4-gazebo-models Models and worlds to be used in local Fuel instances and kept up to date in [app.gazebosim.org/PX4](https://app.gazebosim.org/PX4). + +## Starting GZ simulation +In addition to providing resource files for all models and worlds, this repo also contains a simulation-gazebo script that will start a world and works in conjunction with PX4. + +:::note +In order for this script to work, you must have installed gz-garden beforehand. The way to do this can be found [here](https://gazebosim.org/docs/garden/install_ubuntu): +::: + +After setting up gazebo, navigate to the repo containing simulation-gazebo and script with + +```shell +python simulation-gazebo +``` + +If you do not provide any arguments, this will download all models and worlds from the PX4-gazebo-models repo, save them to `/.simulation-gazebo` and start a default world. + +The following arguments can be passed: + +`--world` A string variable that names the sdf file which runs the simulation world. Default argument is "default", which links to the default world. + +`--gz_partition` A string variable that sets the gazebo partition to run in (more information [here]([https://gazebosim.org/api/transport/13/envvars.html)) + +`--gz_ip` A string variable that sets the IP of the outgoing network interface (more information [here]([https://gazebosim.org/api/transport/13/envvars.html)) + +`--interactive` A boolean variable that requires the ability to run the code in interactive mode, allowing for custom paths for `--model_download_source`. If this is not set, `--model_download_source` will only download from the default Github repo. + +`--model_download_source` A string variable setting the path to a directory from where models are to be imported. At the moment this can only be a local file directory or a http address. The source should end with the zipped resource file. (e.g. https://path/to/simulation/models/resource.zip) + +`--model_store` A string variable setting the path to the model storage directory. This is where the zip file provided in `model_download_source` will be placed. + +`--overwrite` A boolean variable providing the ability to overwrite existing directories with new data. + +`--dryrun` A boolean variable that can be set when running testcases. It will not provide any interactivity and will not start Gazebo simulation.