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Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 #25346

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Merged
dakejahl merged 1 commit into from
Aug 1, 2025
Merged

Update px4-rc.gzsim. Fix gz_world checking for PX4_GZ_STANDALONE=1 #25346

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15 changes: 13 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
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Original file line number Diff line number Diff line change
Expand Up @@ -28,11 +28,15 @@ else
exit 1
fi

# Look for an already running world
get_gz_world() {
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
}

# If not standalone
if [ -z "${PX4_GZ_STANDALONE}" ]; then

# Look for an already running world
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
get_gz_world

# shellcheck disable=SC2153
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
Expand Down Expand Up @@ -66,6 +70,13 @@ fi

# Wait for Gazebo world to be ready before proceeding
check_scene_info() {

get_gz_world

if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
PX4_GZ_WORLD=${gz_world}
fi

SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
if echo "$SERVICE_INFO" | grep -q "Service providers"; then
return 0
Expand Down
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