Add headless mode to simulation-gazebo (#37)

* Add headless mode to simulation-gazebo `-s` and `-g` flags can be used to run gazebo server and GUI separately. `--headless` flag to python script adds ability to trigger `-s` behavior from the CLI. * Add --headless description to README * Update simulation-gazebo, flag -s is seperated onto its own line for readability Co-authored-by: Frederik Markus <[email protected]> --------- Co-authored-by: Frederik Markus <[email protected]>
PX4 · Mar 27, 2024 · c3905a7 · c3905a7
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diff --git a/README.md b/README.md
@@ -31,3 +31,5 @@ The following arguments can be passed:
 `--overwrite` A boolean variable providing the ability to overwrite existing directories with new data.
 
 `--dryrun` A boolean variable that can be set when running testcases. It will not provide any interactivity and will not start Gazebo simulation.
+
+`--headless` A boolean variable providing the ability to run in headless (server-only) mode. This is the [mode of operation in macOS](https://gazebosim.org/docs/harmonic/getstarted#macos), and is more suitable for container use.
diff --git a/simulation-gazebo b/simulation-gazebo
@@ -23,6 +23,7 @@ def main():
     parser.add_argument('--model_store', help='Path to model storage directory', required=False, default="~/.simulation-gazebo")
     parser.add_argument('--overwrite', help='Overwrite existing model directories', required=False, default=False, action='store_true')
     parser.add_argument('--dryrun', help='Test in dryrun. Do not launch gazebo', required=False, default=False, action='store_true')
+    parser.add_argument('--headless', help='Run Gazebo without GUI', required=False, default=False, action='store_true')
 
     args = parser.parse_args()
 
@@ -90,6 +91,8 @@ def main():
     print('> Launching gazebo simulation...')
     if not args.dryrun:
         cmd = f'GZ_SIM_RESOURCE_PATH={args.model_store}/models gz sim -r {args.model_store}/worlds/{args.world}.sdf'
+        if args.headless:
+            cmd = f'{cmd} -s'
 
         if args.gz_partition:
             cmd = f'GZ_PARTITION={args.gz_partition} {cmd}'