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new Ignition Gazebo simulation interface architecture (#20057)

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- much simpler direct interface using Ignition Transport 
 - in tree models and worlds
 - control allocation output configuration, no more magic actuator mapping to mavlink and back
 - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible)

Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
This commit is contained in:
Daniel Agar
2022-08-22 10:58:19 -04:00
committed by GitHub
co-authored by Jaeyoung-Lim
parent 889a2fddea
commit cfc579542e
58 changed files with 29260 additions and 220 deletions
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boards/px4/sitl/ign.px4board
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CONFIG_DRIVERS_PWM_OUT_SIM=n
CONFIG_MODULES_SIH=n
CONFIG_BOARD_LOCKSTEP=y
CONFIG_MODULES_IGNITION_SIMULATOR=y