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Add gz model for quadtailsitter (#23943)

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* Add gazebo airspeed plugin and add a tailsitter model
---------

Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>
This commit is contained in:
Perre
2024-12-02 17:27:23 +01:00
committed by GitHub
parent 1a165a4956
commit 4696338d29
5 changed files with 108 additions and 12 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
+6 -9
View File
@@ -226,17 +226,15 @@ int GZBridge::init()
PX4_WARN("failed to subscribe to %s", lidar_sensor.c_str());
}
#if 0
// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";
std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";
if (!_node.Subscribe(airpressure_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airpressure_topic.c_str());
if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
return PX4_ERROR;
}
#endif
// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/air_pressure_sensor/air_pressure";
@@ -449,8 +447,8 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
pthread_mutex_unlock(&_node_mutex);
}
#if 0
void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
{
if (hrt_absolute_time() == 0) {
return;
@@ -475,7 +473,6 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
pthread_mutex_unlock(&_node_mutex);
}
#endif
void GZBridge::imuCallback(const gz::msgs::IMU &imu)
{
src/modules/simulation/gz_bridge/GZBridge.hpp
+3 -2
View File
@@ -68,6 +68,7 @@
#include <gz/msgs/imu.pb.h>
#include <gz/msgs/fluid_pressure.pb.h>
#include <gz/msgs/air_speed.pb.h>
#include <gz/msgs/model.pb.h>
#include <gz/msgs/odometry_with_covariance.pb.h>
#include <gz/msgs/laserscan.pb.h>
@@ -106,7 +107,7 @@ private:
void clockCallback(const gz::msgs::Clock &clock);
// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);
@@ -167,8 +168,8 @@ private:
// Subscriptions
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};