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gz: use server config file for loading world plugins (#24441)

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* gz: use server config file for loading world plugins

* submodule

* use server.config in tree

* newlines

* format

* gzbridge: rename function

* format

* gzbridge: add magnetometer callback

* change gz_find_package to find_package

* fix up directory structure and cmake to allow multiple plugins

* newlines

* add comment block explaining gz_env.sh

* remove dupe readme

* remove SENS_EN_MAGSIM from all gz airframe files except spacecraft

* update gz submodule
This commit is contained in:
Jacob Dahl
2025-11-24 09:19:41 -08:00
committed by Ramon Roche
parent 6974c4a5cb
commit 5ae6f3fdfb
1 changed files with 40 additions and 1 deletions
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src/modules/simulation/gz_bridge/GZBridge.cpp
+40 -1
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@@ -85,7 +85,20 @@ int GZBridge::init()
return PX4_ERROR;
}
if (!subscribeMag(true)) {
// mag: /world/$WORLD/model/$MODEL/link/base_link/sensor/magnetometer_sensor/magnetometer
std::string mag_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/magnetometer_sensor/magnetometer";
if (!_node.Subscribe(mag_topic, &GZBridge::magnetometerCallback, this)) {
PX4_ERR("failed to subscribe to %s", mag_topic.c_str());
return PX4_ERROR;
}
// odom: /world/$WORLD/model/$MODEL/link/base_link/odometry_with_covariance
std::string odometry_topic = "/model/" + _model_name + "/odometry_with_covariance";
if (!_node.Subscribe(odometry_topic, &GZBridge::odometryCallback, this)) {
PX4_ERR("failed to subscribe to %s", odometry_topic.c_str());
return PX4_ERROR;
}
@@ -406,6 +419,32 @@ void GZBridge::magnetometerCallback(const gz::msgs::Magnetometer &msg)
_sensor_mag_pub.publish(report);
}
void GZBridge::magnetometerCallback(const gz::msgs::Magnetometer &msg)
{
const uint64_t timestamp = hrt_absolute_time();
device::Device::DeviceId id{};
id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
id.devid_s.devtype = DRV_MAG_DEVTYPE_MAGSIM;
id.devid_s.bus = 1;
id.devid_s.address = 3; // TODO: any value other than 3 causes Commander to not use the mag.... wtf
sensor_mag_s report{};
report.timestamp = timestamp;
report.timestamp_sample = timestamp;
report.device_id = id.devid;
report.temperature = this->_temperature;
// FIMEX: once we're on jetty or later
// The magnetometer plugin publishes in units of gauss and in a weird left handed coordinate system
// https://github.com/gazebosim/gz-sim/pull/2460
report.x = -msg.field_tesla().y();
report.y = -msg.field_tesla().x();
report.z = msg.field_tesla().z();
_sensor_mag_pub.publish(report);
}
void GZBridge::airPressureCallback(const gz::msgs::FluidPressure &msg)
{
const uint64_t timestamp = hrt_absolute_time();