Gazebo Script Fixes
This commit is contained in:
@@ -41,9 +41,19 @@ fi
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echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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# Source Gazebo setup (CRITICAL for shader paths)
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if [ -f /usr/share/gazebo/setup.bash ]; then
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source /usr/share/gazebo/setup.bash
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elif [ -f /usr/share/gazebo-11/setup.bash ]; then
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source /usr/share/gazebo-11/setup.bash
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fi
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# Parse arguments
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WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
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USE_NVIDIA=true
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WORLD=""
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USE_SOFTWARE_RENDER=false
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HEADLESS=false
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while [[ $# -gt 0 ]]; do
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@@ -56,12 +66,8 @@ while [[ $# -gt 0 ]]; do
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HEADLESS=true
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shift
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;;
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--no-gpu)
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USE_NVIDIA=false
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shift
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;;
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--software-render)
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export LIBGL_ALWAYS_SOFTWARE=1
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--no-gpu|--software-render)
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USE_SOFTWARE_RENDER=true
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shift
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;;
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--help)
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@@ -69,9 +75,8 @@ while [[ $# -gt 0 ]]; do
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echo ""
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echo "Options:"
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echo " --world FILE Specify world file (default: empty_custom.world)"
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echo " --headless Run without GUI"
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echo " --no-gpu Disable GPU acceleration"
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echo " --software-render Force software rendering (useful in WSL)"
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echo " --headless Run without GUI (gzserver only)"
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echo " --software-render Force software rendering (recommended for WSL)"
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echo " --help Show this help"
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echo ""
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echo "Examples:"
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@@ -83,24 +88,34 @@ while [[ $# -gt 0 ]]; do
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*)
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if [ -f "$1" ]; then
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WORLD="$1"
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elif [ -f "$PROJECT_DIR/$1" ]; then
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WORLD="$PROJECT_DIR/$1"
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elif [ -f "$PROJECT_DIR/worlds/$1" ]; then
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WORLD="$PROJECT_DIR/worlds/$1"
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fi
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shift
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;;
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esac
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done
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# Validate world file
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if [ ! -f "$WORLD" ]; then
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echo -e "${YELLOW}World file not found: $WORLD${NC}"
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# Default world
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if [ -z "$WORLD" ]; then
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WORLD="$PROJECT_DIR/worlds/empty_custom.world"
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echo "Using default: $WORLD"
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fi
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# Setup environment
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export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
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# Validate world file
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if [ ! -f "$WORLD" ]; then
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echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
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echo "Available worlds:"
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ls -1 "$PROJECT_DIR/worlds/"*.world 2>/dev/null || echo " (none found)"
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exit 1
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fi
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# ArduPilot Gazebo paths
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# Setup Gazebo paths
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export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:${GAZEBO_MODEL_PATH:-}"
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export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
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# ArduPilot Gazebo paths (if installed)
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if [ -d "$HOME/ardupilot_gazebo" ]; then
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export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
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@@ -113,9 +128,8 @@ if $IS_WSL; then
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source "$PROJECT_DIR/wsl_env.sh"
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fi
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# Check DISPLAY
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# Set DISPLAY if not set
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if [ -z "$DISPLAY" ]; then
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# Try to set DISPLAY for WSL
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if [ -d "/mnt/wslg" ]; then
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export DISPLAY=:0
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else
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@@ -123,46 +137,41 @@ if $IS_WSL; then
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fi
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fi
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echo -e "${BLUE}DISPLAY set to: $DISPLAY${NC}"
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echo -e "${BLUE}DISPLAY: $DISPLAY${NC}"
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# Performance hint for WSL
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if [ -z "$LIBGL_ALWAYS_SOFTWARE" ]; then
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echo -e "${YELLOW}TIP: If Gazebo is slow, run with --software-render flag${NC}"
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# Force software rendering in WSL by default if having issues
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if ! $USE_SOFTWARE_RENDER; then
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echo -e "${YELLOW}TIP: If Gazebo crashes or has rendering issues, use --software-render${NC}"
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fi
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fi
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# GPU setup for native Linux
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if $USE_NVIDIA && ! $IS_WSL; then
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if command -v nvidia-smi &> /dev/null; then
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echo -e "${GREEN}NVIDIA GPU detected${NC}"
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export __NV_PRIME_RENDER_OFFLOAD=1
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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fi
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# Apply software rendering if requested or in WSL with issues
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if $USE_SOFTWARE_RENDER; then
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echo -e "${YELLOW}Using software rendering${NC}"
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export LIBGL_ALWAYS_SOFTWARE=1
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export MESA_GL_VERSION_OVERRIDE=3.3
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export MESA_GLSL_VERSION_OVERRIDE=330
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fi
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# Cleanup function
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cleanup() {
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echo ""
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echo -e "${YELLOW}Shutting down simulation...${NC}"
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pkill -f "gazebo" 2>/dev/null || true
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pkill -f "gzserver" 2>/dev/null || true
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pkill -f "gzclient" 2>/dev/null || true
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pkill -f "sim_vehicle.py" 2>/dev/null || true
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pkill -f "mavros" 2>/dev/null || true
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pkill -f "ArduCopter" 2>/dev/null || true
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pkill -f "gazebo" 2>/dev/null || true
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sleep 1
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echo -e "${GREEN}Cleanup complete.${NC}"
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}
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trap cleanup EXIT INT TERM
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# Source ROS and workspace
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source /opt/ros/${ROS_DISTRO}/setup.bash
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# Activate virtual environment if exists
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if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
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source "$PROJECT_DIR/venv/bin/activate"
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fi
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# Source workspace if built
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if [ -f "$PROJECT_DIR/../install/setup.bash" ]; then
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source "$PROJECT_DIR/../install/setup.bash"
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elif [ -f "$PROJECT_DIR/install/setup.bash" ]; then
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@@ -171,26 +180,27 @@ fi
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echo ""
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echo -e "${GREEN}Starting simulation with world: $(basename $WORLD)${NC}"
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echo -e "${BLUE}World path: $WORLD${NC}"
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echo ""
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# Launch based on ROS distro and Gazebo version
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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# Jazzy uses Gazebo Harmonic (gz-sim)
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echo -e "${YELLOW}Note: Jazzy uses Gazebo Sim (Harmonic). World files may need conversion.${NC}"
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
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echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
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gz sim "$WORLD"
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}
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else
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# Humble and earlier use Gazebo Classic
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if $HEADLESS; then
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GAZEBO_CMD="gzserver --verbose"
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else
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GAZEBO_CMD="gazebo --verbose"
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fi
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
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echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
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$GAZEBO_CMD "$WORLD"
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}
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# Check if ROS package exists
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ROS_PKG_EXISTS=false
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if ros2 pkg list 2>/dev/null | grep -q "uav_ugv_simulation"; then
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ROS_PKG_EXISTS=true
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fi
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# Launch simulation
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if $ROS_PKG_EXISTS; then
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echo -e "${GREEN}Launching via ROS 2...${NC}"
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"
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else
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echo -e "${YELLOW}ROS package not built. Launching Gazebo directly...${NC}"
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echo -e "${BLUE}To build the package: cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation${NC}"
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echo ""
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if $HEADLESS; then
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gzserver --verbose "$WORLD"
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else
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gazebo --verbose "$WORLD"
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fi
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fi
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