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https://github.com/wpilibsuite/allwpilib
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ebd41fe0bb
The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience.
64 lines
1.9 KiB
Bash
64 lines
1.9 KiB
Bash
#!/bin/bash
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#---------------------------------------------------------------------------
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# Copyright (c) 2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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#----------------------------------------------------------------------------
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#----------------------------------------------------------------------------
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# Invoke gazebo, giving it the environment variables
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# it needs to find the FRC plugins and models.
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#----------------------------------------------------------------------------
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usage() {
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echo $1: Invoke Gazebo for FRC
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echo Usage:
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echo " $1 name-of-world-file"
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}
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d=`dirname "$0"`
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fulldir=`(cd "$d"; pwd)`
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sharedir=/usr/share/frcgazebo
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if [ -d "$fulldir/../share" ] ; then
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sharedir=`(cd "$fulldir/../share/frcgazebo"; pwd)`
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fi
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# While we wait for the frc gazebo models to have a proper
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# home, we require the user to make them accessible
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if [ ! -d "$sharedir" ] ; then
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cravedir=`(cd "$fulldir/../"; pwd)`
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echo Error: you must manually place the models and world into $cravedir/share/frcgazebo
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exit 2
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fi
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libsdir=/invalid/directory
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if [ -d "$fulldir/../libs" ] ; then
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libsdir=`(cd "$fulldir/../libs"; pwd)`
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fi
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# Use exactly the file they gave us, or find it in ../share/frcgazebo/worlds,
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# or find it there by adding a .world extension
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world="$1"
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if [ ! -f "$world" ] ; then
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world="$sharedir/worlds/$1"
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fi
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if [ ! -f "$world" ] ; then
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world="$sharedir/worlds/$1.world"
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fi
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if [ $# -ne 1 -o "x${1:0:1}" = "x-" ] ; then
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usage `basename $0`
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exit 1
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fi
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if [ ! -f "$world" ] ; then
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echo Could not find $1 directly or in $sharedir/worlds
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exit 2
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fi
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export GAZEBO_MODEL_PATH="$sharedir/models":$GAZEBO_MODEL_PATH
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for x in `find "$libsdir" -type d -name shared` ; do
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export GAZEBO_PLUGIN_PATH="$x:$GAZEBO_PLUGIN_PATH"
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done
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gazebo "$world"
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