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fix(sim): require positive finite --step_sec for gz_step #157

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fix(sim): require positive finite --step_sec for gz_step #157

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10 changes: 8 additions & 2 deletions simulation/simulation_resources/scripts/gz_step.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
python3 gz_step.py --step_sec 1.0
"""
import os
import math
import argparse
import gz.transport13
from gz.msgs10.world_control_pb2 import WorldControl
Expand All @@ -11,9 +12,11 @@

def main():
parser = argparse.ArgumentParser(description='Control Gazebo world simulation stepping')
parser.add_argument('--step_sec', type=float, help='Number of seconds to advance the simulation')
parser.add_argument('--step_sec', type=float, required=True, help='Number of seconds to advance the simulation (must be > 0)')
args = parser.parse_args()

if args.step_sec is None or not math.isfinite(args.step_sec) or args.step_sec <= 0:
parser.error('--step_sec must be a finite number greater than 0')

world_name = os.environ.get('WORLD', 'default')
autopilot = os.environ.get('AUTOPILOT', 'px4')

Expand All @@ -24,6 +27,9 @@ def main():
req.multi_step = int(args.step_sec * 250) # PX4 SDF worlds use 250 steps per simulation step (4ms)
elif autopilot == 'ardupilot':
req.multi_step = int(args.step_sec * 500) # ArduPilot SDF worlds use 500 steps per simulation step (2ms)
else:
print(f"Unsupported AUTOPILOT={autopilot!r}; expected px4 or ardupilot")
return
req.pause = True # Stops the simulation after the step

result, response = gz_node.request(
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