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gz: wait for world before spawning model, delay 1s after model spawn to allow time (#24516)

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This commit is contained in:
Jacob Dahl
2025-03-17 10:29:10 -08:00
committed by GitHub
parent fced29da59
commit 3b66166d6c
1 changed files with 29 additions and 28 deletions
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57
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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@@ -95,6 +95,32 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
echo "INFO [init] Starting gz gui"
${gz_command} ${gz_sub_command} -g > /dev/null 2>&1 &
fi
# Wait for Gazebo world to be ready before proceeding
check_scene_info() {
SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
if echo "$SERVICE_INFO" | grep -q "Service providers"; then
return 0
else
return 1
fi
}
ATTEMPTS=30
while [ $ATTEMPTS -gt 0 ]; do
if check_scene_info; then
echo "INFO [init] Gazebo world is ready"
break
fi
ATTEMPTS=$((ATTEMPTS-1))
if [ $ATTEMPTS -eq 0 ]; then
echo "ERROR [init] Timed out waiting for Gazebo world"
exit 1
fi
echo "INFO [init] Waiting for Gazebo world..."
sleep 1
done
else
# Gazebo is already running
echo "INFO [init] gazebo already running world: ${gz_world}"
@@ -131,6 +157,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
--reptype gz.msgs.Boolean --timeout 5000 \
--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
# Wait for model to spawn
sleep 1
# Start gz_bridge
if ! gz_bridge start -w "${PX4_GZ_WORLD}" -n "${MODEL_NAME_INSTANCE}"; then
echo "ERROR [init] gz_bridge failed to start and spawn model"
@@ -138,30 +167,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
fi
# Set physics parameters for faster-than-realtime simulation if needed
check_scene_info() {
SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
if echo "$SERVICE_INFO" | grep -q "Service providers"; then
return 0
else
return 1
fi
}
ATTEMPTS=30
while [ $ATTEMPTS -gt 0 ]; do
if check_scene_info; then
echo "INFO [init] Gazebo world is ready"
break
fi
ATTEMPTS=$((ATTEMPTS-1))
if [ $ATTEMPTS -eq 0 ]; then
echo "ERROR [init] Timed out waiting for Gazebo world"
exit 1
fi
echo "INFO [init] Waiting for Gazebo world..."
sleep 1
done
if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
@@ -169,13 +174,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
fi
# Set up camera to follow the model if requested
if [ -n "${PX4_GZ_FOLLOW}" ]; then
# Wait for model to spawn
sleep 1
echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
# Set camera to follow the model