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posix: enable ROMFSROOT

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This will copy the ROMFS into the build directory under etc/, and thus
needs a change of the PX4 startup parameters and mixer paths.
This commit is contained in:
Beat Küng
2020-09-10 13:33:29 +02:00
parent d3362f38d1
commit 055fa768d8
28 changed files with 33 additions and 24 deletions
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2
launch/posix_sitl.launch
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@@ -29,7 +29,7 @@
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS $(arg px4_command_arg1)" required="true"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">

2
launch/px4.launch
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@@ -13,6 +13,6 @@
<env name="PX4_ESTIMATOR" value="$(arg est)" />
<arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<arg if="$(arg interactive)" name="px4_command_arg1" value=""/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
</node>
</launch>

2
launch/single_vehicle_spawn.launch
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@@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param rotors_description -model $(arg vehicle)_$(arg ID) -package_to_model -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>

2
launch/single_vehicle_spawn_sdf.launch
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@@ -25,7 +25,7 @@
<!-- PX4 SITL -->
<arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
<arg if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
</node>
<!-- spawn vehicle -->
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>