From 2ef2580388575dc7633508b4b4dd07069e88e015 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 10 Nov 2025 13:11:26 +1300 Subject: [PATCH] Gazebo-classic: add define for development.xml And update submodule. --- Tools/simulation/gazebo-classic/sitl_gazebo-classic | 2 +- .../simulator_mavlink/sitl_targets_gazebo-classic.cmake | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic index 6697ab169c..ac718b6fb2 160000 --- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic +++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic @@ -1 +1 @@ -Subproject commit 6697ab169ceab512dc706acea63df4c882662c60 +Subproject commit ac718b6fb2d6b337248e23702e75d6d1e2125054 diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake index 649f0f99c8..693c0fa6e5 100644 --- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake +++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake @@ -44,12 +44,20 @@ if(gazebo_FOUND) # project to build sitl_gazebo if necessary px4_add_git_submodule(TARGET git_sitl_gazebo-classic PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic") include(ExternalProject) + + # Set MAVLINK_DEVELOPMENT if using development dialect + set(GAZEBO_MAVLINK_ARGS) + if(CONFIG_MAVLINK_DIALECT STREQUAL "development") + list(APPEND GAZEBO_MAVLINK_ARGS -DMAVLINK_DEVELOPMENT=1) + endif() + ExternalProject_Add(sitl_gazebo-classic SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} -DSEND_ODOMETRY_DATA=ON -DGENERATE_ROS_MODELS=ON + ${GAZEBO_MAVLINK_ARGS} BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo-classic INSTALL_COMMAND "" DEPENDS git_sitl_gazebo-classic