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simulation: hitl support

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This commit is contained in:
Oleg Kalachev
2022-09-08 09:24:04 +03:00
parent c1d6ed27aa
commit add7f0d55f
4 changed files with 9 additions and 5 deletions
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3
clover_description/launch/spawn_drone.launch
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@@ -10,8 +10,9 @@
<arg name="gps" default="true"/>
<!-- Use physics parameters from CAD programs -->
<arg name="use_clover_physics" default="false"/>
<arg name="hitl" default="false"/>
<arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics)"/>
<arg name="cmd" default="$(find xacro)/xacro $(find clover_description)/urdf/clover/clover4.xacro main_camera:=$(arg main_camera) rangefinder:=$(arg rangefinder) led:=$(arg led) gps:=$(arg gps) maintain_camera_rate:=$(arg maintain_camera_rate) use_clover_physics:=$(arg use_clover_physics) hitl:=$(arg hitl)"/>
<param command="$(arg cmd)" name="drone_description"/>
<!-- Note: -package_to_model replaces all mentions of "package://" with "model://" in urdf URIs -->
<node name="$(anon spawn)" output="screen" pkg="gazebo_ros" type="spawn_model" args="-urdf -param drone_description -model clover -z 0.3"/>

1
clover_description/urdf/clover/clover4.xacro
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@@ -7,6 +7,7 @@
<xacro:arg name="gps" default="true"/>
<xacro:arg name="maintain_camera_rate" default="false"/>
<xacro:arg name="use_clover_physics" default="false"/>
<xacro:arg name="hitl" default="false"/>
<xacro:include filename="clover4_base.xacro" />
<xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>

4
clover_description/urdf/clover/clover4_gazebo.xacro
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@@ -53,14 +53,14 @@
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<mavlink_udp_port>14560</mavlink_udp_port>
<serialEnabled>false</serialEnabled>
<serialEnabled>$(arg hitl)</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>false</hil_mode>
<hil_mode>$(arg hitl)</hil_mode>
<hil_state_level>0</hil_state_level>
<send_vision_estimation>0</send_vision_estimation>
<send_odometry>1</send_odometry>

6
clover_simulation/launch/simulator.launch
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@@ -1,5 +1,6 @@
<launch>
<arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
<arg name="mode" default="sitl"/> <!-- sitl or hitl -->
<arg name="mav_id" default="0"/>
<arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
<arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
@@ -21,7 +22,7 @@
</include>
<!-- PX4 instance -->
<node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
<node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none' or mode == 'hitl')">
<env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
<env name="PX4_ESTIMATOR" value="$(arg est)"/>
</node>
@@ -34,6 +35,7 @@
<arg name="led" value="$(arg led)"/>
<arg name="gps" value="$(arg gps)"/>
<arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
<arg name="hitl" value="$(eval mode == 'hitl')"/>
</include>
<node name="jmavsim" pkg="px4" required="true" type="jmavsim_run.sh" output="screen" if="$(eval type == 'jmavsim')">
@@ -45,7 +47,7 @@
<!-- Clover services -->
<include file="$(find clover)/launch/clover.launch">
<arg name="simulator" value="true"/>
<arg name="fcu_conn" value="sitl"/>
<arg name="fcu_conn" value="$(arg mode)"/>
<arg name="fcu_ip" value="127.0.0.1"/>
<arg name="gcs_bridge" value=""/>
<arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>