Added a exit_on_finish param to GamelogicPlugin. When set to true, simulation should automatically shutdown once the run has finished, i.e all tasks completed or max run duration reached.
I also had to add some logic to the launch files to shutdown the all ROS launch processes once the ign gazebo exits. This is needed by cloudsim as it expects that a run has ended when a docker container exits. It can then continue to do things like uploading logs to s3.
I added a coast_cloud.sdf with exit_on_finish set to true for testing on cloudsim. It's currently just a copy of coast.
Signed-off-by: Ian Chen ichen@osrfoundation.org
Added a
exit_on_finishparam to GamelogicPlugin. When set totrue, simulation should automatically shutdown once the run has finished, i.e all tasks completed or max run duration reached.I also had to add some logic to the launch files to shutdown the all ROS launch processes once the
ign gazeboexits. This is needed by cloudsim as it expects that a run has ended when a docker container exits. It can then continue to do things like uploading logs to s3.I added a
coast_cloud.sdfwithexit_on_finishset totruefor testing on cloudsim. It's currently just a copy ofcoast.To test:
Launch
coast_cloud.sdfwith a few robotsManually end the run:
Wait ~10 seconds. Gazebo should exit and ROS2 launch processes should be shutdown. You should get your terminal back.