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feat: enhance ArduPilot SITL startup with improved dependency checks, detailed error messages, and a robust TCP port readiness wait.

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2026-01-07 20:24:50 +00:00
parent 528ec1e61f
commit 1eb0d23fb9
1 changed files with 48 additions and 20 deletions
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68
scripts/run_ardupilot_controller.sh
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@@ -25,7 +25,6 @@ if [ -f "$HOME/.ardupilot_env" ]; then
fi fi
# Activate ArduPilot venv (has empy and other dependencies) # Activate ArduPilot venv (has empy and other dependencies)
# This MUST be the active venv for sim_vehicle.py to work
if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
source "$HOME/venv-ardupilot/bin/activate" source "$HOME/venv-ardupilot/bin/activate"
fi fi
@@ -38,41 +37,70 @@ echo ""
# Check dependencies # Check dependencies
if ! command -v sim_vehicle.py &> /dev/null; then if ! command -v sim_vehicle.py &> /dev/null; then
echo "[ERROR] sim_vehicle.py not found" echo "[ERROR] sim_vehicle.py not found"
echo "Add to PATH: export PATH=\$PATH:~/ardupilot/Tools/autotest" echo ""
echo "Fix: Add ArduPilot tools to PATH:"
echo " export PATH=\$PATH:~/ardupilot/Tools/autotest"
echo ""
echo "Or source the ArduPilot environment:"
echo " source ~/.ardupilot_env"
exit 1 exit 1
fi fi
# Verify correct Python environment (ArduPilot venv should have empy) # Verify empy is available
if ! python3 -c "import em" 2>/dev/null; then if ! python3 -c "import em" 2>/dev/null; then
echo "[WARN] empy not found in current Python environment" echo "[ERROR] empy not found"
echo "[INFO] Attempting to use ArduPilot venv..." echo ""
if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then echo "Fix: Install empy in ArduPilot venv:"
source "$HOME/venv-ardupilot/bin/activate" echo " source ~/venv-ardupilot/bin/activate"
fi echo " pip install empy==3.3.4"
exit 1
fi fi
# Start SITL in background echo "[INFO] Environment OK"
echo "[INFO] Python: $(which python3)"
echo ""
# Start SITL with console output
echo "[INFO] Starting ArduPilot SITL..." echo "[INFO] Starting ArduPilot SITL..."
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy & echo "[INFO] This will build ArduCopter if needed (first run takes ~2 min)"
echo ""
# Run sim_vehicle in a way that shows output
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map &
SITL_PID=$! SITL_PID=$!
# Wait for SITL to start # Wait for SITL to be ready (check for TCP port 5760)
sleep 5 echo "[INFO] Waiting for SITL to start (TCP 5760)..."
TRIES=0
# Check if SITL started MAX_TRIES=60 # 60 seconds max
if ! kill -0 $SITL_PID 2>/dev/null; then while ! nc -z 127.0.0.1 5760 2>/dev/null; do
echo "[ERROR] SITL failed to start" sleep 1
exit 1 TRIES=$((TRIES + 1))
fi if [ $TRIES -ge $MAX_TRIES ]; then
echo "[ERROR] Timeout waiting for SITL on port 5760"
echo "[OK] SITL started (PID: $SITL_PID)" kill $SITL_PID 2>/dev/null || true
exit 1
fi
# Check if SITL process is still running
if ! kill -0 $SITL_PID 2>/dev/null; then
echo "[ERROR] SITL process died"
exit 1
fi
echo -n "."
done
echo "" echo ""
echo "[OK] SITL is ready on TCP 5760"
echo ""
# Give it a moment more to stabilize
sleep 2
# Trap to kill SITL on exit # Trap to kill SITL on exit
trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM
# Run controller # Run controller
echo "[INFO] Starting drone controller..." echo "[INFO] Starting drone controller..."
echo "[INFO] Press Ctrl+C to stop"
echo "" echo ""
cd "$PROJECT_DIR" cd "$PROJECT_DIR"
python scripts/run_ardupilot.py "$@" python scripts/run_ardupilot.py "$@"