removed all models and reworked logic

Signed-off-by: frederik <[email protected]>

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -51,16 +51,8 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
 	fi
 
-	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-	if [ -f ./gz_env.sh ]; then
-		. ./gz_env.sh
-
-	elif [ -f ../gz_env.sh ]; then
-		. ../gz_env.sh
-	fi
-
-	# Only start up Gazebo if PX4_GZ_STANDALONE set to false
-	if [ "$PX4_GZ_STANDALONE" != '1' ]; then
+	# Only start up Gazebo if PX4_GZ_SIM set to true
+	if [ "$PX4_GZ_SIM" = '1' ]; then
 
 		# "gz sim" only avaiilable in Garden and later
 		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
@@ -78,17 +70,23 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
 		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
 		# shellcheck disable=SC2153
-		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+		echo "INFO  [init] PX4_GZ_WORLD: ${PX4_GZ_WORLD}"
+		echo "INFO  [init] GZ_SIM_RESOURCE_PATH: ${GZ_SIM_RESOURCE_PATH}"
+		if [ -z "${gz_world}" ] && [ -n "${GZ_SIM_RESOURCE_PATH}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+			echo "INFO  [init] starting gazebo with world: ${GZ_SIM_RESOURCE_PATH}/worlds/${PX4_GZ_WORLD}.sdf"
 
-			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${GZ_SIM_RESOURCE_PATH}/worlds/${PX4_GZ_WORLD}.sdf" &
 
 			if [ -z "${HEADLESS}" ]; then
 				# HEADLESS not set, starting gui
 				${gz_command} ${gz_sub_command} -g &
 			fi
 
+		elif [ -z "${GZ_SIM_RESOURCE_PATH}" ] && [ -z "${gz_world}" ]; then
+			echo "ERROR [init] GZ_SIM_RESOURCE_PATH not set, and no world running"
+			exit 1
+
 		else
 			echo "INFO  [init] gazebo already running world: ${gz_world}"
 			PX4_GZ_WORLD=${gz_world}