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Spawn models separately from gazebo models

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Detach model spawning process from the world description file, so that the same model can be used with different worlds
This commit is contained in:
JaeyoungLim
2020-03-16 22:41:51 +01:00
committed by Julian Oes
parent 8738c26426
commit 2ef37cd065
4 changed files with 99 additions and 30 deletions
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79
platforms/posix/cmake/sitl_target.cmake
View File

@@ -66,30 +66,34 @@ set(models none shell
standard_vtol tailsitter tiltrotor
rover boat
uuv_hippocampus)
set(worlds none empty warehouse)
set(all_posix_vmd_make_targets)
foreach(viewer ${viewers})
foreach(debugger ${debuggers})
foreach(model ${models})
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
else()
set(_targ_name "${viewer}_${model}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "${viewer}___${debugger}")
else()
set(_targ_name "${viewer}_${model}_${debugger}")
endif()
endif()
foreach(world ${worlds})
if (world STREQUAL "none")
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
else()
set(_targ_name "${viewer}_${model}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "${viewer}___${debugger}")
else()
set(_targ_name "${viewer}_${model}_${debugger}")
endif()
endif()
add_custom_target(${_targ_name}
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
@@ -97,12 +101,47 @@ foreach(viewer ${viewers})
DEPENDS
logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
if (viewer STREQUAL "gazebo")
add_dependencies(${_targ_name} px4 sitl_gazebo)
elseif(viewer STREQUAL "jmavsim")
add_dependencies(${_targ_name} px4 git_jmavsim)
endif()
list(APPEND all_posix_vmd_make_targets ${_targ_name})
if (viewer STREQUAL "gazebo")
add_dependencies(${_targ_name} px4 sitl_gazebo)
elseif(viewer STREQUAL "jmavsim")
add_dependencies(${_targ_name} px4 git_jmavsim)
endif()
else()
if (viewer STREQUAL "gazebo")
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}___${world}")
else()
set(_targ_name "${viewer}_${model}__${world}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "${viewer}__${debugger}_${world}")
else()
set(_targ_name "${viewer}_${model}_${debugger}_${world}")
endif()
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
${viewer}
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
add_dependencies(${_targ_name} px4 sitl_gazebo)
endif()
endif()
endforeach()
endforeach()
endforeach()
endforeach()

5
platforms/posix/cmake/sitl_tests.cmake
View File

@@ -61,6 +61,7 @@ foreach(test_name ${tests})
none
none
test_${test_name}_generated
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
@@ -79,6 +80,7 @@ add_test(NAME mavlink
none
none
test_mavlink
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
@@ -96,6 +98,7 @@ if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
none
none
test_shutdown
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
@@ -112,6 +115,7 @@ add_test(NAME dyn
none
none
test_dyn_hello
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
$<TARGET_FILE:examples__dyn_hello>
@@ -135,6 +139,7 @@ foreach(cmd_name ${test_cmds})
none
none
cmd_${cmd_name}_generated
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})