SITL: unify all init scripts #10222
SITL: unify all init scripts #10222
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Tangential comment, but the POSIX shell stuff seems to have broken mixer loading on external SITL setups (e.g when launching PX4 via roslaunch). |
bkueng
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Great! ShellCheck was already on my list for CI. It's small enough we can add it to px4io/px4-dev-base. https://github.com/PX4/containers/blob/master/docker/px4-dev/Dockerfile_base Killing off the other fake posix_sitl builds (posix_sitl_{ekf2, lpe, inav, etc}) would also be nice. |
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We could use #!sh everywhere.
I don't know why we don't currently have a /bin/ in NuttX.
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@mhkabir let's get something simple with roslaunch in the CI system. Likewise for building PX4 in a catkin workspace. This has to be the minimum bar for support. |
Yes I have that on the list for one of the next iterations. |
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bkueng
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I updated the NuttX submodule, should be good to go/review. |
The command is now: 'make posix none_shell' which means: don't start a simulator and run a minimal shell only.
Use 'if ! <cmd>' instead.
RC input is now handled via rc_input module
This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see why it's needed and it adds noticeable CPU load.
This info is on the dev-guide now
Use './Tools/run-shellcheck.sh ROMFS/px4fmu_common' to run it.
…ly enumerating them
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Rebased on master to fit into px4fmu-v2. |
dagar
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This combines all SITL startup scripts into a common rcS file with separate autostart files for each model using the same structure as we have on NuttX. The
rc.vehicle_setupfrom NuttX is now also used in SITL, which starts all vehicle type-specific apps and loads the mixer. So a considerable portion of the scripts is now shared.Bash does not allow empty 'if then else' clauses, so I added 'if ! ' support for NuttX and changed all existing occurrences.
I tested all the models with gazebo (rover doesn't seem to work, but it does not on master either).
Mutli-vehicle simulation works now generically.
This depends on PX4/NuttX-apps#2.
It's probably best to review commit by commit.
Note that LPE needs to be selected with
export PX4_ESTIMATOR=lpenow.@hamishwillee docs will follow.
Script testing
I found ShellCheck, a static analyzer for (bash) scripts. I added a script to run it, and we should add it to CI via:
It will test the NuttX scripts as well.