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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
parent 889a2fddea
commit cfc579542e
58 changed files with 29260 additions and 220 deletions
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src/modules/logger/logged_topics.cpp
+1
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@@ -234,6 +234,7 @@ void LoggedTopics::add_default_topics()
add_topic("time_offset");
add_topic("vehicle_angular_acceleration", 10);
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_angular_velocity_groundtruth", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 20);