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changed mavros connection string, updated gazebo sitl build process

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This commit is contained in:
Andreas Antener
2016-05-25 22:28:13 +02:00
parent 45bb1786b6
commit d34edfd435
4 changed files with 6 additions and 7 deletions
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6
integrationtests/run_tests.bash
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@@ -43,11 +43,7 @@ ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile ($SRC_DIR)" echo "=====> compile ($SRC_DIR)"
cd $SRC_DIR cd $SRC_DIR
make ${BUILD} make ${BUILD}
mkdir -p Tools/sitl_gazebo/Build make --no-print-directory gazebo_build
cd Tools/sitl_gazebo/Build
cmake -Wno-dev ..
make -j4
make sdf
echo "<=====" echo "<====="
# don't exit on error anymore from here on (because single tests or exports might fail) # don't exit on error anymore from here on (because single tests or exports might fail)

2
integrationtests/setup_gazebo_ros.bash
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@@ -18,3 +18,5 @@ export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/model
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH} export GAZEBO_PLUGIN_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/ export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR} export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo

3
launch/mavros_posix_sitl.launch
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@@ -6,6 +6,7 @@
<arg name="ns" default="/"/> <arg name="ns" default="/"/>
<arg name="world" default="iris"/> <arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/> <arg name="build" default="posix_sitl_default"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<include file="$(find px4)/launch/posix_sitl.launch"> <include file="$(find px4)/launch/posix_sitl.launch">
<arg name="headless" value="$(arg headless)"/> <arg name="headless" value="$(arg headless)"/>
@@ -17,6 +18,6 @@
<include file="$(find px4)/launch/mavros.launch"> <include file="$(find px4)/launch/mavros.launch">
<arg name="ns" value="$(arg ns)"/> <arg name="ns" value="$(arg ns)"/>
<arg name="fcu_url" value="udp://:14567@localhost:14557"/> <arg name="fcu_url" value="$(arg fcu_url)"/>
</include> </include>
</launch> </launch>

2
launch/posix_sitl.launch
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@@ -7,7 +7,7 @@
<arg name="world" default="iris"/> <arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/> <arg name="build" default="posix_sitl_default"/>
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo iris $(find px4)/build_$(arg build)"> <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
<env name="no_sim" value="1" /> <env name="no_sim" value="1" />
</node> </node>