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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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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')"/>