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support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939)

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* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
This commit is contained in:
JaeyoungLim
2023-01-24 09:22:53 -05:00
committed by GitHub
co-authored by Alejandro Hernández Cordero Benjamin Perseghetti
parent c31867f104
commit 644aeb9153
17 changed files with 6100 additions and 33 deletions
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src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
+26 -32
View File
@@ -35,18 +35,19 @@
bool GZMixingInterfaceServo::init(const std::string &model_name)
{
#if 0 // TODO
// output eg /X500/command/motor_speed
std::string actuator_topic = "/" + model_name + "/command/motor_speed";
_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
// /model/plane_0/joint/left_elevon_joint/0/cmd_pos
for (int i = 0; i < 8; i++) {
std::string joint_name = "px4_servo_" + std::to_string(i);
std::string servo_topic = "/model/" + model_name + "/joint/" + joint_name + "/0/cmd_pos";
//std::cout << "Servo topic: " << servo_topic << std::endl;
_servos_pub.push_back(_node.Advertise<ignition::msgs::Double>(servo_topic));
if (!_actuators_pub.Valid()) {
PX4_ERR("failed to advertise %s", actuator_topic.c_str());
return false;
if (!_servos_pub.back().Valid()) {
PX4_ERR("failed to advertise %s", servo_topic.c_str());
return false;
}
}
#endif
ScheduleNow();
return true;
@@ -55,37 +56,30 @@ bool GZMixingInterfaceServo::init(const std::string &model_name)
bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{
bool updated = false;
// cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
#if 0 // TODO
unsigned active_output_count = 0;
int i = 0;
for (unsigned i = 0; i < num_outputs; i++) {
for (auto &servo_pub : _servos_pub) {
if (_mixing_output.isFunctionSet(i)) {
active_output_count++;
ignition::msgs::Double servo_output;
///TODO: Normalize output data
double output = (outputs[i] - 500) / 500.0;
// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
// std::cout << " output: " << output << std::endl;
servo_output.set_data(output);
} else {
break;
if (servo_pub.Valid()) {
servo_pub.Publish(servo_output);
updated = true;
}
}
i++;
}
if (active_output_count > 0) {
ignition::msgs::Actuators rotor_velocity_message;
rotor_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
for (unsigned i = 0; i < active_output_count; i++) {
rotor_velocity_message.set_velocity(i, outputs[i]);
}
if (_actuators_pub.Valid()) {
return _actuators_pub.Publish(rotor_velocity_message);
}
}
#endif
return false;
return updated;
}
void GZMixingInterfaceServo::Run()
src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp
+1 -1
View File
@@ -72,5 +72,5 @@ private:
MixingOutput _mixing_output{"SIM_GZ_SV", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
//ignition::transport::Node::Publisher _actuators_pub;
std::vector<ignition::transport::Node::Publisher> _servos_pub;
};