How to Run SITL Mode
make obc-sitl
This will build the "obc/ppd", "obc/cpd", and "obc/simlink" builds, as well as the Gazebo plugins.
make workspace-sitl
This will build the combined registry, XTCE, and ground displays for the "ppd", "cpd", and "simlink" builds.
The next steps will require 5 different shells. Make sure to always create a python virtual environment by running make python-env
from the root directory of the repo.
Shell 1
cd build/obc/sitl_commander_workspace
./bin/yamcs-start /opt/yamcs .
This should launch YAMCS
Shell 2
cd build/obc/simlink/host/host
./start-gazebo
This should start Gazebo
Shell 3
cd build/obc/simlink/target/target/exe
sudo ./simlink
This should launch Simlink. Simlink will immediately connect to the simulation and begin emulating the SED application with bridged simulation data.
Shell 4
cd build/obc/ppd/sitl/target/target/exe
sudo SEDLIB_SHMEM_KEY_FILE=../../../../../simlink/target/target/exe/.sedlib_shmem ./airliner
This should launch the PPD instance of Airliner with SEDLIB remapped to the registers managed by Simlink.
Shell 5
cd build/obc/cpd/sitl/target/target/exe
sudo SEDLIB_SHMEM_KEY_FILE=../../../../../simlink/target/target/exe/.sedlib_shmem ./airliner
This should launch the CPD instance of Airliner with SEDLIB remapped to the registers managed by Simlink.
You may now use Commander to interact with the system.