How to run px4 sitl with custom world?

Rayhan · August 25, 2020, 7:49am

I made a custom world in gazebo and saved it to sitl_gazebo/worlds. How to run make px4_sitl with the custom world? I tried make px4_sitl gazebo_iris__[custom world] but it said unknown target.

Jaeyoung-Lim · August 25, 2020, 7:51am

@Rayhan You need to add the target to sitl_target.cmake

Rayhan · August 25, 2020, 10:42am

Thanks, that works. Anyway then when I tried to run it, the gazebo stuck on loading “preparing your world” with black blank screen like this.

Is the problem came from my .world file?

Jaeyoung-Lim · August 25, 2020, 11:34am

Yes, it is most likely that it can’t find resources you included in your world file

REGATTE · March 25, 2022, 3:29am

place the asset folder in your /models folder, and update the name of your world in the sitl_target.cmake.

Then build px4 by make px4_sitl gazebo__world

Moses_Kota · November 1, 2022, 3:09pm

I am not able to find the sitl_target.cmake file in the sitl_gazebo folder

Benja · November 1, 2022, 11:25pm

it may have been moved to
PX4-Autopilot/sitl_targets_gazebo.cmake at main · PX4/PX4-Autopilot · GitHub :

github.com

PX4/PX4-Autopilot/blob/a2d01995163eac503b1d1121c177b44a1c3cb35b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake#L100-L110


      
          set(worlds
          	none
          	baylands
          	empty
          	ksql_airport
          	mcmillan_airfield
          	sonoma_raceway
          	warehouse
          	windy
          	yosemite
          )

Faizan_Ahmad_Khan · September 19, 2023, 10:10am

I found this file by your help, thanks Benja.
I am trying to find the default configuration file which sets and loads empty.world as default world. Can you help me with that?

Benja · October 6, 2023, 3:26pm

the empty world is first entered here

github.com

PX4/PX4-Autopilot/blob/13cb8ce4a899caf6e40475d9de4e3ad61c6a5081/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake#L175-L196


      
          			foreach(world ${worlds})
          				if(world STREQUAL "none")
          					if(debugger STREQUAL "none")
          						if(model STREQUAL "none")
          							set(_targ_name "gazebo-classic")
          						else()
          							set(_targ_name "gazebo-classic_${model}")
          						endif()
          					else()
          						if(model STREQUAL "none")
          							set(_targ_name "gazebo-classic___${debugger}")
          						else()
          							set(_targ_name "gazebo-classic_${model}_${debugger}")
          						endif()
          					endif()
          
          					add_custom_target(${_targ_name}
          						COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
          						WORKING_DIRECTORY ${SITL_WORKING_DIR}
          						USES_TERMINAL

This file has been truncated. show original

note the

COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/gazebo/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}

and then in sitl_run.sh you have

github.com

PX4/PX4-Autopilot/blob/13cb8ce4a899caf6e40475d9de4e3ad61c6a5081/Tools/simulation/gazebo-classic/sitl_run.sh#L83-L90


      
          		if [ "$world" == "none" ]; then
          			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
          				echo "empty world, default world ${model}.world for model found"
          				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
          			else
          				echo "empty world, setting empty.world as default"
          				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
          			fi