Support for running simulation with gz sim in hitl mode #729
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On branch feature_gzsim_support Changes to be committed: modified: .gitmodules new file: Tools/simulation/gz/hitl_run.sh new file: Tools/simulation/gz/models/ssrc_holybro_x500/model_hitl.sdf new file: Tools/simulation/gz/models/x500/model_hitl.sdf new file: Tools/simulation/gz/plugins/px4-gzsim-plugins modified: src/modules/simulation/gz_bridge/gz_env.sh.in modified: src/modules/simulation/simulator_mavlink/CMakeLists.txt new file: src/modules/simulation/simulator_mavlink/sitl_targets_gz-sim.cmake
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Note that this is the support for running HITL with FC only platforms like saluki v2. For full stack FC + MC HITL for example with saluki v3, https://github.com/tiiuae/gazebo-sim-sandbox/tree/harmonic_sandbox is used. |
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lgtm, i also requested review from @jnippula |
| <imuSubTopic>/link/base_link/sensor/imu_sensor/imu</imuSubTopic> | ||
| <poseSubTopic>/pose/info</poseSubTopic> | ||
| <mavlink_addr>192.168.200.101</mavlink_addr> | ||
| <mavlink_udp_local_port>14542</mavlink_udp_local_port> |
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Are these mavlink instances (addr and ports) defined some script to start udp mavlink automatically? Or is it meant to be so that mavlink instance is configured manually via parameters or started from command line?
There are some SD-card scripts in px4-firmware/ssrc_config folder to configure HITL mavlink instance to start automatically.
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Yes, there are. For example this is for salukiV2 https://github.com/tiiuae/saluki-v2/blob/42cbe653acda38e66acd6e4ee7c6da7ca38930f4/init/rc.board_mavlink
There is same for salukiV3
https://github.com/tiiuae/saluki-v3/blob/a0cd5b9119e392e7d9c910a48df91ce05cbc6f36/init/rc.board_mavlink
Support for using gz sim in hitl mode includes:
make px4_sitl gz-sim)./Tools/simulation/gz/hitl_run.sh x500/model_hitl.sdf)On branch feature_gzsim_support
Changes to be committed:
modified: .gitmodules
new file: Tools/simulation/gz/hitl_run.sh
new file: Tools/simulation/gz/models/ssrc_holybro_x500/model_hitl.sdf
new file: Tools/simulation/gz/models/x500/model_hitl.sdf
new file: Tools/simulation/gz/plugins/px4-gzsim-plugins
modified: src/modules/simulation/gz_bridge/gz_env.sh.in
modified: src/modules/simulation/simulator_mavlink/CMakeLists.txt
new file: src/modules/simulation/simulator_mavlink/sitl_targets_gz-sim.cmake