[wip] gz plugins (#24153)

* 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

src/modules/simulation/gz_msgs/CMakeLists.txt

@@ -0,0 +1,55 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+############################################################################
+
+# message(FATAL_ERROR "JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE JAKE ")
+
+# Check for Gazebo first
+if(NOT DEFINED ENV{GZ_DISTRO})
+    set(GZ_DISTRO "harmonic" CACHE STRING "Gazebo distribution to use")
+else()
+    set(GZ_DISTRO $ENV{GZ_DISTRO})
+endif()
+
+# Set versions based on distribution
+if(GZ_DISTRO STREQUAL "harmonic")
+    set(GZ_CMAKE_VERSION "3")
+    set(GZ_MSGS_VERSION "10")
+    set(GZ_TRANSPORT_VERSION "13")
+elseif(GZ_DISTRO STREQUAL "ionic")
+    set(GZ_CMAKE_VERSION "4")
+    set(GZ_MSGS_VERSION "11")
+    set(GZ_TRANSPORT_VERSION "14")
+else()
+    message(FATAL_ERROR "Unknown Gazebo distribution: ${GZ_DISTRO}")
+endif()
+
+# Find required packages
+find_package(gz-transport${GZ_TRANSPORT_VERSION})
+if(gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
+    find_package(gz-cmake${GZ_CMAKE_VERSION} REQUIRED)
+    find_package(gz-msgs${GZ_MSGS_VERSION} REQUIRED)
+    find_package(Protobuf REQUIRED)
+
+    # Generate protobuf messages
+    file(GLOB MSGS_PROTOS "${CMAKE_CURRENT_SOURCE_DIR}/*.proto")
+    PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS ${MSGS_PROTOS})
+
+    # Create library
+    add_library(px4_gz_msgs STATIC
+        ${PROTO_SRCS}
+        ${PROTO_HDRS}
+    )
+
+    target_include_directories(px4_gz_msgs
+        PUBLIC
+            ${CMAKE_CURRENT_BINARY_DIR}
+            ${Protobuf_INCLUDE_DIRS}
+    )
+    target_link_libraries(px4_gz_msgs PUBLIC ${PROTOBUF_LIBRARIES})
+
+    # Export the binary dir for other modules
+    set(PX4_GZ_MSGS_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR} CACHE INTERNAL "")
+endif()

src/modules/simulation/gz_msgs/Kconfig

@@ -0,0 +1,6 @@
+menuconfig MODULES_SIMULATION_GZ_MSGS
+	bool "gz_msgs"
+	default n
+	depends on PLATFORM_POSIX
+	---help---
+		Enable proto generation for custom PX4 messages

src/modules/simulation/gz_msgs/opticalflow.proto

@@ -0,0 +1,19 @@
+syntax = "proto3";
+package px4.msgs;
+
+message OpticalFlow {
+	// Timestamp (microseconds, since system start)
+	int64 time_usec = 1;
+
+	// Integration time
+	uint32 integration_time_us = 2;
+
+	// Integrated x-axis flow (rad)
+	float integrated_x = 3;
+
+	// Integrated y-axis flow (rad)
+	float integrated_y = 4;
+
+	// Quality of optical flow measurement (0: bad, 255: maximum quality)
+	float quality = 5;
+}