simulation: hitl support

.github/workflows/build.yml

@@ -21,25 +21,3 @@ jobs:
       - name: Native Noetic build
         run: |
           docker run --rm -v $(pwd):/root/catkin_ws/src/clover ros:noetic-ros-base /root/catkin_ws/src/clover/builder/standalone-install.sh
-
-  noetic-raw:
-    runs-on: ubuntu-latest
-    container: ros:noetic-ros-base
-    defaults:
-      run:
-        working-directory: catkin_ws
-        shell: bash
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        path: catkin_ws/src/clover
-    - name: Install pip
-      run: apt-get update && apt-get -y install python3-pip
-    - name: Install dependencies
-      run: rosdep update && rosdep install --from-paths src --ignore-src -y
-    - name: catkin_make
-      run: source /opt/ros/$ROS_DISTRO/setup.bash && catkin_make
-    - name: Run tests
-      run: source devel/setup.bash && catkin_make run_tests && catkin_test_results
-    - name: Install
-      run: source devel/setup.bash && catkin_make install

clover/launch/clover.launch

@@ -12,7 +12,7 @@
     <arg name="led" default="true"/>
     <arg name="blocks" default="false"/>
     <arg name="rc" default="false"/>
-    <arg name="force_init" default="true"/> <!-- force estimator to init by publishing zero pose -->
+    <arg name="force_init" value="true"/> <!-- force estimator to init by publishing zero pose -->
 
     <arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->
 

clover/www/js/topics.js

@@ -40,7 +40,6 @@ function viewTopicsList() {
 let rosdistro;
 
 function viewTopic(topic) {
-	let counter = 0;
 	let index = '<a href=topics.html>Topics</a>';
 	title.innerHTML = `${index}: ${topic}`;
 	topicMessage.style.display = 'block';
@@ -52,11 +51,10 @@ function viewTopic(topic) {
 	});
 
 	new ROSLIB.Topic({ ros: ros, name: topic }).subscribe(function(msg) {
-		counter++;
 		document.title = topic;
 		if (mouseDown) return;
 
-		if (msg.header && msg.header.stamp) {
+		if (msg.header.stamp) {
 			if (params.date || params.offset) {
 				let date = new Date(msg.header.stamp.secs * 1e3 + msg.header.stamp.nsecs * 1e-6);
 				if (params.date) msg.header.date = date.toISOString();
@@ -64,8 +62,7 @@ function viewTopic(topic) {
 			}
 		}
 
-		let txt = `<div class=counter>${counter} received</div>${yamlStringify(msg)}`; // JSON.stringify(msg, null, 4);
-		topicMessage.innerHTML = txt;
+		topicMessage.innerHTML = yamlStringify(msg); // JSON.stringify(msg, null, 4);
 	});
 }
 

clover/www/topics.html

@@ -15,7 +15,6 @@
 				white-space: pre;
 				font-family: monospace;
 			}
-			.counter { color: #b9b9b9; margin-bottom: 1em; }
 			#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
 			.topic { font-family: monospace; }
 			body.closed { background-color: rgb(207, 207, 207); }

clover_description/launch/spawn_drone.launch

@@ -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"/> 

clover_description/urdf/clover/clover4.xacro

@@ -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"/>

clover_description/urdf/clover/clover4_gazebo.xacro

@@ -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>

clover_simulation/launch/simulator.launch

@@ -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')"/>