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simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989)

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Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Benjamin Perseghetti
2023-01-24 19:01:45 -05:00
committed by GitHub
parent fbd2e111d0
commit 684b4a4b8a
26 changed files with 348 additions and 100 deletions
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src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+3 -3
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@@ -46,7 +46,7 @@ bool GZMixingInterfaceESC::init(const std::string &model_name)
// output eg /X500/command/motor_speed
std::string actuator_topic = "/" + model_name + "/command/motor_speed";
_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
_actuators_pub = _node.Advertise<gz::msgs::Actuators>(actuator_topic);
if (!_actuators_pub.Valid()) {
PX4_ERR("failed to advertise %s", actuator_topic.c_str());
@@ -73,7 +73,7 @@ bool GZMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_
}
if (active_output_count > 0) {
ignition::msgs::Actuators rotor_velocity_message;
gz::msgs::Actuators rotor_velocity_message;
rotor_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
for (unsigned i = 0; i < active_output_count; i++) {
@@ -96,7 +96,7 @@ void GZMixingInterfaceESC::Run()
pthread_mutex_unlock(&_node_mutex);
}
void GZMixingInterfaceESC::motorSpeedCallback(const ignition::msgs::Actuators &actuators)
void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuators)
{
if (hrt_absolute_time() == 0) {
return;