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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
src/modules/simulation/gz_bridge/GZBridge.cpp
+42
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@@ -135,6 +135,14 @@ int GZBridge::init()
return PX4_ERROR;
}
std::string flow_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/flow_link/sensor/optical_flow/optical_flow";
if (!_node.Subscribe(flow_topic, &GZBridge::opticalFlowCallback, this)) {
PX4_ERR("failed to subscribe to %s", flow_topic.c_str());
return PX4_ERROR;
}
if (!_mixing_interface_esc.init(_model_name)) {
PX4_ERR("failed to init ESC output");
return PX4_ERROR;
@@ -168,6 +176,40 @@ void GZBridge::clockCallback(const gz::msgs::Clock &msg)
px4_clock_settime(CLOCK_MONOTONIC, &ts);
}
void GZBridge::opticalFlowCallback(const px4::msgs::OpticalFlow &flow)
{
sensor_optical_flow_s msg = {};
msg.timestamp = hrt_absolute_time();
msg.timestamp_sample = flow.time_usec();
msg.pixel_flow[0] = flow.integrated_x();
msg.pixel_flow[1] = flow.integrated_y();
msg.quality = flow.quality();
msg.integration_timespan_us = flow.integration_time_us();
// Static data
device::Device::DeviceId id;
id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
id.devid_s.bus = 0;
id.devid_s.address = 0;
id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM;
msg.device_id = id.devid;
// values taken from PAW3902
msg.mode = sensor_optical_flow_s::MODE_LOWLIGHT;
msg.max_flow_rate = 7.4f;
msg.min_ground_distance = 0.f;
msg.max_ground_distance = 30.f;
msg.error_count = 0;
// No delta angle
// No distance
// This means that delta angle will come from vehicle gyro
// Distance will come from vehicle distance sensor
_optical_flow_pub.publish(msg);
}
void GZBridge::barometerCallback(const gz::msgs::FluidPressure &msg)
{
const uint64_t timestamp = hrt_absolute_time();