Gazebo Simulation Enablement

.vscode/tasks.json

@@ -218,10 +218,10 @@
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -342,8 +342,8 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "gzWorld",
+            "description": "gz world",
             "options": [
                 "default"
             ],

ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500

@@ -1,15 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
 
-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
 
-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -26,43 +26,71 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi
 
-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
+		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
+	else
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
+	fi
 
-	if [ -z $ign_world ]; then
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
-		# starting ign gazebo with ${PX4_SIM_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
+	if [ -z $gz_world ]; then
 
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
+		echo "INFO  [init] starting ign gazebo"
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
 		if [ -z $HEADLESS ]; then
 			# HEADLESS not set, starting ign gazebo gui
 			ign gazebo -g &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running world: $ign_world"
-		PX4_SIM_WORLD=$ign_world
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
 	fi
 
-	if [ -z $PX4_IGN_MODEL_POSE ]; then
-		# start ignition bridge without pose arg.
-		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
-		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
 		else
 			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
-	else
-
-		# Clean potential input line formatting.
-		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
-
-		# start ignition bridge with pose arg.
-		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
@@ -71,6 +99,9 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			exit 1
 		fi
 
+	else
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		exit 1
 	fi
 
 else

Tools/setup/ubuntu.sh

@@ -16,6 +16,7 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_SIM_JAMMY="false"
 
 # Parse arguments
 for arg in "$@"
@@ -28,6 +29,10 @@ do
 		INSTALL_SIM="false"
 	fi
 
+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done
 
 # detect if running in docker
@@ -67,6 +72,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi
 
 
@@ -146,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;

Tools/simulation/gz/models/x500-Depth/model.sdf

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>

Tools/simulation/gz/models/x500/model.sdf

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+  </model>
+</sdf>