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Scripts Update 2

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2026-02-09 06:06:07 +00:00
parent 5b066ac383
commit 347a5cc4f8
1 changed files with 15 additions and 20 deletions
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35
scripts/run_autonomous.sh
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@@ -22,22 +22,17 @@ print_error() { echo -e "${RED}[ERROR]${NC} $1"; }
SOFTWARE_RENDER=false SOFTWARE_RENDER=false
WORLD="iris_runway.sdf" WORLD="iris_runway.sdf"
MISSION="hover" # hover, square, circle MISSION="hover" # hover, square, circle
USE_CONSOLE=true # Show MAVProxy console by default
while [[ $# -gt 0 ]]; do while [[ $# -gt 0 ]]; do
case $1 in case $1 in
--software-render) SOFTWARE_RENDER=true; shift ;; --software-render) SOFTWARE_RENDER=true; shift ;;
--world) WORLD="$2"; shift 2 ;; --world) WORLD="$2"; shift 2 ;;
--mission) MISSION="$2"; shift 2 ;; --mission) MISSION="$2"; shift 2 ;;
--no-console) USE_CONSOLE=false; shift ;;
--console) USE_CONSOLE=true; shift ;;
-h|--help) -h|--help)
echo "Usage: $0 [options]" echo "Usage: $0 [options]"
echo " --software-render Use software rendering (WSL/no GPU)" echo " --software-render Use software rendering (WSL/no GPU)"
echo " --world <file> World file to load (default: iris_runway.sdf)" echo " --world <file> World file to load (default: iris_runway.sdf)"
echo " --mission <type> Mission type: hover, square, circle (default: hover)" echo " --mission <type> Mission type: hover, square, circle (default: hover)"
echo " --console Show MAVProxy console (default: on)"
echo " --no-console Hide MAVProxy console"
exit 0 exit 0
;; ;;
*) shift ;; *) shift ;;
@@ -93,38 +88,38 @@ print_success "Gazebo running (PID: $GZ_PID)"
print_info "Starting ArduPilot SITL..." print_info "Starting ArduPilot SITL..."
cd ~/ardupilot cd ~/ardupilot
# Build SITL command # Build SITL command - always use --no-mavproxy for autonomous mode
SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0" # Our controller connects directly to SITL on port 5760
# MAVProxy console conflicts with our controller's connection
SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0 --no-mavproxy"
# Add console/map if requested # Add output port for external monitoring (e.g., QGroundControl on 14550)
if [ "$USE_CONSOLE" = true ]; then SITL_ARGS="$SITL_ARGS --out 127.0.0.1:14550"
SITL_ARGS="$SITL_ARGS --console --map"
print_info "MAVProxy console enabled"
else
SITL_ARGS="$SITL_ARGS --no-mavproxy"
fi
# Check if custom param file exists # Check if custom param file exists
PARAM_FILE="$PROJECT_DIR/config/ardupilot_gps_denied.parm" PARAM_FILE="$PROJECT_DIR/config/ardupilot_gps_denied.parm"
if [ -f "$PARAM_FILE" ]; then if [ -f "$PARAM_FILE" ]; then
print_info "Loading GPS-denied parameters..." print_info "Loading custom parameters..."
SITL_ARGS="$SITL_ARGS --add-param-file $PARAM_FILE" SITL_ARGS="$SITL_ARGS --add-param-file $PARAM_FILE"
fi fi
print_info "SITL will output status to this terminal"
print_info "Connect GCS to udp:127.0.0.1:14550 for monitoring"
# Start SITL # Start SITL
sim_vehicle.py $SITL_ARGS & sim_vehicle.py $SITL_ARGS &
SITL_PID=$! SITL_PID=$!
# Wait longer for SITL to fully initialize # Wait for SITL to initialize
print_info "Waiting for SITL to initialize (this takes ~20 seconds)..." print_info "Waiting for SITL to initialize (~20 seconds)..."
sleep 20 sleep 20
# Check if SITL started # Check if SITL started (check for arducopter process, not sim_vehicle.py)
if ! kill -0 $SITL_PID 2>/dev/null; then if ! pgrep -f "arducopter" > /dev/null 2>&1; then
print_error "ArduPilot SITL failed to start" print_error "ArduPilot SITL failed to start"
exit 1 exit 1
fi fi
print_success "ArduPilot SITL running (PID: $SITL_PID)" print_success "ArduPilot SITL running"
# Step 3: Start the autonomous controller # Step 3: Start the autonomous controller
print_info "Starting Autonomous Controller..." print_info "Starting Autonomous Controller..."