From ec436d3be3371ad6c9ca0a2acdfb8ba80547c020 Mon Sep 17 00:00:00 2001
From: Davide Iafrate <Tuxliri@users.noreply.github.com>
Date: Tue, 26 Aug 2025 20:00:47 +0200
Subject: [PATCH] Enable selectively disabling sensors in the Gazebo bridge.
 (#25484)

* Initial plan

* Add configurable sensor subscription parameters

Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com>

---------

Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com>
Co-authored-by: Tuxliri <3532595+Tuxliri@users.noreply.github.com>
---
 src/modules/simulation/gz_bridge/GZBridge.cpp | 42 ++++++++----
 src/modules/simulation/gz_bridge/GZBridge.hpp |  8 ++-
 src/modules/simulation/gz_bridge/parameters.c | 66 +++++++++++++++++++
 3 files changed, 101 insertions(+), 15 deletions(-)

diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index ddf54a36cc..3ef65e186f 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -90,32 +90,46 @@ int GZBridge::init()
 	}
 
 	// OPTIONAL:
-	if (!subscribeNavsat(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_gps.get()) {
+		if (!subscribeNavsat(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeAirPressure(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_baro.get()) {
+		if (!subscribeAirPressure(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeDistanceSensor(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_lidar.get()) {
+		if (!subscribeDistanceSensor(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeAirspeed(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_aspd.get()) {
+		if (!subscribeAirspeed(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeOpticalFlow(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_flow.get()) {
+		if (!subscribeOpticalFlow(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeOdometry(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_odom.get()) {
+		if (!subscribeOdometry(false)) {
+			return PX4_ERROR;
+		}
 	}
 
-	if (!subscribeLaserScan(false)) {
-		return PX4_ERROR;
+	if (_sim_gz_en_lidar.get()) {
+		if (!subscribeLaserScan(false)) {
+			return PX4_ERROR;
+		}
 	}
 
 	// ESC mixing interface
diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
index 39dccb44af..9f90f4dfea 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.hpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -194,6 +194,12 @@ private:
 	const float _vel_markov_time = 0.85f;       // Velocity Markov process coefficient
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used
+		(ParamInt<px4::params::SIM_GPS_USED>) _sim_gps_used,
+		(ParamInt<px4::params::SIM_GZ_EN_LIDAR>) _sim_gz_en_lidar,
+		(ParamInt<px4::params::SIM_GZ_EN_FLOW>) _sim_gz_en_flow,
+		(ParamInt<px4::params::SIM_GZ_EN_ASPD>) _sim_gz_en_aspd,
+		(ParamInt<px4::params::SIM_GZ_EN_BARO>) _sim_gz_en_baro,
+		(ParamInt<px4::params::SIM_GZ_EN_ODOM>) _sim_gz_en_odom,
+		(ParamInt<px4::params::SIM_GZ_EN_GPS>) _sim_gz_en_gps
 	)
 };
diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c
index 26f874e893..0616da562f 100644
--- a/src/modules/simulation/gz_bridge/parameters.c
+++ b/src/modules/simulation/gz_bridge/parameters.c
@@ -39,3 +39,69 @@
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(SIM_GZ_EN, 0);
+
+/**
+ * Enable laser/lidar sensors in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_LIDAR, 1);
+
+/**
+ * Enable optical flow sensor in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_FLOW, 1);
+
+/**
+ * Enable airspeed sensor in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_ASPD, 1);
+
+/**
+ * Enable barometer/air pressure sensor in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_BARO, 1);
+
+/**
+ * Enable odometry in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_ODOM, 1);
+
+/**
+ * Enable GPS/NavSat sensor in Gazebo bridge
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulation
+ * @value 0 Disabled
+ * @value 1 Enabled
+ */
+PARAM_DEFINE_INT32(SIM_GZ_EN_GPS, 1);