PX4-gazebo-models

Models and worlds to be used in local Fuel instances and kept up to date in app.gazebosim.org/PX4.

Starting GZ simulation

In addition to providing resource files for all models and worlds, this repo also contains a simulation-gazebo script that will start a world and works in conjunction with PX4.

In order for this script to work, you must have installed gz-garden beforehand. The way to do this can be found here:

After setting up gazebo, navigate to the repo containing simulation-gazebo and script with

python simulation-gazebo

If you do not provide any arguments, this will download all models and worlds from the PX4-gazebo-models repo, save them to /.simulation-gazebo and start a default world. In order for a model to load, you need to start PX4 as well

The following arguments can be passed:

--world A string variable that names the sdf file which runs the simulation world. Default argument is "default", which links to the default world.

--gz_partition A string variable that sets the gazebo partition to run in (more information here)

--gz_ip A string variable that sets the IP of the outgoing network interface (more information here)

--interactive A boolean variable that requires the ability to run the code in interactive mode, allowing for custom paths for --model_download_source. If this is not set, --model_download_source will only download from the default Github repo.

--model_download_source A string variable setting the path to a directory from where models are to be imported. At the moment this can only be a local file directory or a http address. The source should end with the zipped resource file. (e.g. https://path/to/simulation/models/resource.zip)

--model_store A string variable setting the path to the model storage directory. This is where the zip file provided in model_download_source will be placed.

--overwrite A boolean variable providing the ability to overwrite existing directories with new data.

--dryrun A boolean variable that can be set when running testcases. It will not provide any interactivity and will not start Gazebo simulation.

--headless A boolean variable providing the ability to run in headless (server-only) mode. This is the mode of operation in macOS, and is more suitable for container use.