Subscribe to vehicle odometry in GZ Bridge

This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F

ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision

@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Gazebo x500 vision
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -74,6 +74,7 @@ px4_add_romfs_files(
 	4002_gz_x500_depth
 	4003_gz_rc_cessna
 	4004_gz_standard_vtol
+	4005_gz_x500_vision
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

Tools/simulation/gz/models/x500_vision/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-vision</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Jaeyoung Lim</name>
+    <email>jalim@ethz.ch</email>
+  </author>
+  <description>Model of the X500 with a odometry/external vision input.</description>
+</model>

Tools/simulation/gz/models/x500_vision/model.sdf

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-vision'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+      <plugin
+        filename="gz-sim-odometry-publisher-system"
+        name="gz::sim::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+      </plugin>
+  </model>
+</sdf>

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -152,6 +152,15 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
+
+	// IMU: /world/$WORLD/model/$MODEL/link/base_link/sensor/imu_sensor/imu
+	std::string odometry_topic = "/model/" + _model_name + "/odometry_with_covariance";
+
+	if (!_node.Subscribe(odometry_topic, &GZBridge::odometryCallback, this)) {
+		PX4_ERR("failed to subscribe to %s", odometry_topic.c_str());
+		return PX4_ERROR;
+	}
+
 #if 0
 	// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
 	std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
@@ -590,6 +599,64 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose)
 	pthread_mutex_unlock(&_node_mutex);
 }
 
+void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &odometry)
+{
+	if (hrt_absolute_time() == 0) {
+		return;
+	}
+
+	pthread_mutex_lock(&_node_mutex);
+
+	const uint64_t time_us = (odometry.header().stamp().sec() * 1000000) + (odometry.header().stamp().nsec() / 1000);
+
+	if (time_us > _world_time_us.load()) {
+		updateClock(odometry.header().stamp().sec(), odometry.header().stamp().nsec());
+	}
+
+	vehicle_odometry_s odom{};
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+	odom.timestamp_sample = time_us;
+	odom.timestamp = time_us;
+#else
+	odom.timestamp_sample = hrt_absolute_time();
+	odom.timestamp = hrt_absolute_time();
+#endif
+	odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED;
+
+	odom.position[0] = odometry.pose_with_covariance().pose().position().y();
+	odom.position[1] = odometry.pose_with_covariance().pose().position().x();
+	odom.position[2] = -odometry.pose_with_covariance().pose().position().z();
+
+	odom.velocity[0] = odometry.twist_with_covariance().twist().linear().y();
+	odom.velocity[1] = odometry.twist_with_covariance().twist().linear().x();
+	odom.velocity[2] = -odometry.twist_with_covariance().twist().linear().z();
+
+	odom.angular_velocity[0] = odometry.twist_with_covariance().twist().angular().y();
+	odom.angular_velocity[1] = odometry.twist_with_covariance().twist().angular().x();
+	odom.angular_velocity[2] = -odometry.twist_with_covariance().twist().angular().z();
+
+	// VISION_POSITION_ESTIMATE covariance
+	//  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle
+	//  (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.).
+	//  If unknown, assign NaN value to first element in the array.
+	odom.position_variance[0] = odometry.pose_with_covariance().covariance().data(0);  // X  row 0, col 0
+	odom.position_variance[1] = odometry.pose_with_covariance().covariance().data(7);  // Y  row 1, col 1
+	odom.position_variance[2] = odometry.pose_with_covariance().covariance().data(14); // Z  row 2, col 2
+
+	odom.orientation_variance[0] = odometry.pose_with_covariance().covariance().data(21); // R  row 3, col 3
+	odom.orientation_variance[1] = odometry.pose_with_covariance().covariance().data(28); // P  row 4, col 4
+	odom.orientation_variance[2] = odometry.pose_with_covariance().covariance().data(35); // Y  row 5, col 5
+
+	odom.velocity_variance[0] = odometry.twist_with_covariance().covariance().data(0); // R  row 3, col 3
+	odom.velocity_variance[1] = odometry.twist_with_covariance().covariance().data(7); // P  row 4, col 4
+	odom.velocity_variance[2] = odometry.twist_with_covariance().covariance().data(14); // Y  row 5, col 5
+
+	// odom.reset_counter = vpe.reset_counter;
+	_visual_odometry_pub.publish(odom);
+
+	pthread_mutex_unlock(&_node_mutex);
+}
+
 void GZBridge::Run()
 {
 	if (should_exit()) {

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -55,6 +55,7 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/sensor_baro.h>
+#include <uORB/topics/vehicle_odometry.h>
 
 #include <gz/math.hh>
 #include <gz/msgs.hh>
@@ -62,6 +63,7 @@
 
 #include <gz/msgs/imu.pb.h>
 #include <gz/msgs/fluid_pressure.pb.h>
+#include <gz/msgs/odometry_with_covariance.pb.h>
 
 using namespace time_literals;
 
@@ -99,6 +101,7 @@ private:
 	void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
 	void imuCallback(const gz::msgs::IMU &imu);
 	void poseInfoCallback(const gz::msgs::Pose_V &pose);
+	void odometryCallback(const gz::msgs::OdometryWithCovariance &odometry);
 
 	// Subscriptions
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -112,6 +115,7 @@ private:
 
 	uORB::PublicationMulti<sensor_accel_s> _sensor_accel_pub{ORB_ID(sensor_accel)};
 	uORB::PublicationMulti<sensor_gyro_s>  _sensor_gyro_pub{ORB_ID(sensor_gyro)};
+	uORB::PublicationMulti<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
 
 	GZMixingInterfaceESC   _mixing_interface_esc{_node, _node_mutex};
 	GZMixingInterfaceServo _mixing_interface_servo{_node, _node_mutex};