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[wip] gz plugins (#24153)

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* added optical flow to gz bridge

* log high rate sensor data

* it builds

* it builds and publishes, need to figure out build system now

* single library

* rename files

* add gz_msg for proto, fix build, test basic flow impl

* update rate, no blur

* PX4-OpticalFlow impl

* rename OpticalFlowSensor

* rename plugins

* disable gps, add plugin path

* cleanup

* fix plugin path export

* properly add OpticalFlowSystem dependency to gz

* move everything under gz_bridge

* cleanup

* add GZ_VEBOSE

* cleanup model/world build target cmake

* added GZ_DISTRO env, harmonic or ionic

* fix gz transport, unstage ark fpv bootloader

* unstage logged_topics.cpp

* cleanup

* make format

* ci fixes

* fix cmake

* remove required for gz-transport

* use model/world namespace for multi vehicle sim. Make format

* make format

* license

* remove needless member var

* made separate Kconfig for gz_msgs, gz_plugins, and gz_bridge

* move OpticalFlow build to it's own cmake

* fix clang

* cleanup comments

* fix rebase
This commit is contained in:
Jacob Dahl
2025-03-03 12:21:28 -09:00
committed by GitHub
parent 3b2d74b017
commit 6dc39d9deb
20 changed files with 764 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/4021_gz_x500_flow
+15
View File
@@ -0,0 +1,15 @@
#!/bin/sh
#
# @name Gazebo x500 with downward optical flow and distance sensor
#
# @type Quadrotor
#
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_flow}
. ${R}etc/init.d-posix/airframes/4001_gz_x500
echo "Disabling Sim GPS"
param set-default SYS_HAS_GPS 0
param set-default SIM_GPS_USED 0
param set-default EKF2_GPS_CTRL 0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
View File
@@ -91,6 +91,7 @@ px4_add_romfs_files(
4018_gz_quadtailsitter
4019_gz_x500_gimbal
4020_gz_tiltrotor
4021_gz_x500_flow
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+5 -4
View File
@@ -87,9 +87,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
. ../gz_env.sh
fi
# Start gazebo with default world
echo "INFO [init] Starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
${gz_command} ${gz_sub_command} --verbose=${GZ_VERBOSE:=1} -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
if [ -z "${HEADLESS}" ]; then
echo "INFO [init] Starting gz gui"
@@ -124,9 +124,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
echo "INFO [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
fi
echo "INFO [init] Spawning model"
# Spawn model
${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
--reptype gz.msgs.Boolean --timeout 1000 \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
# Start gz_bridge
@@ -163,7 +164,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
if [ -n "${PX4_SIM_SPEED_FACTOR}" ]; then
echo "INFO [init] Setting simulation speed factor: ${PX4_SIM_SPEED_FACTOR}"
${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_physics" --reqtype gz.msgs.Physics \
--reptype gz.msgs.Boolean --timeout 1000 \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "real_time_factor: ${PX4_SIM_SPEED_FACTOR}" > /dev/null 2>&1
fi