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move platform to own world

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in Tools/simulation/gz submodule. for now I am pointing it to the PR
branch moving_platform_world which contains the moving_platform world.
The world contains the platform so we remove the platform definition and
the code that added it dynamically.

Also the env var GZ_MOVING_PLATFORM is now gone -- world name can be set
with existing env var PX4_GZ_WORLD.
This commit is contained in:
Balduin
2025-03-03 10:21:57 +01:00
parent adabdf42d0
commit eef6da16d6
3 changed files with 4 additions and 106 deletions
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.gitmodules
+1 -1
View File
@@ -75,7 +75,7 @@
[submodule "Tools/simulation/gz"]
path = Tools/simulation/gz
url = https://github.com/PX4/PX4-gazebo-models.git
branch = main
branch = moving_platform_world
[submodule "boards/modalai/voxl2/libfc-sensor-api"]
path = boards/modalai/voxl2/libfc-sensor-api
url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
Tools/simulation/gz
+1 -1
Submodule Tools/simulation/gz updated: 183cbee9e2...f9204722ea
src/modules/simulation/gz_bridge/GZBridge.cpp
+2 -104
View File
@@ -69,8 +69,8 @@ GZBridge::~GZBridge()
int GZBridge::init()
{
// TODO document this somehow
const char *moving_platform = std::getenv("GZ_MOVING_PLATFORM");
_has_platform = ((moving_platform != nullptr) && (std::strcmp(moving_platform, "1") == 0));
// const char *moving_platform = std::getenv("GZ_MOVING_PLATFORM");
_has_platform = 0 == _world_name.compare("moving_platform");
if (!_model_sim.empty()) {
@@ -184,10 +184,6 @@ int GZBridge::init()
if (_has_platform) {
if (!createMovingPlatform()) {
return PX4_ERROR;
}
// Initialise publisher for setPlatformVelocity
// TODO less hardcoding of these topic strings
std::string cmd_vel_topic = "/model/flat_platform/link/platform_link/cmd_vel";
@@ -321,104 +317,6 @@ void GZBridge::setPlatformVelocity(float vx, float vy, float vz)
// TODO unified error handling? PX4_ERR at the lowest level or return success bool?
}
bool GZBridge::createMovingPlatform()
{
// moving platform to launch & land from.
gz::msgs::EntityFactory req{};
// https://gazebosim.org/api/gazebo/6/entity_creation.html
// This just as a first hacky quick solution.
// Ultimately we should probably put this in the PX4-gazebo-models repo
std::string platform_sdf = R""""(
<?xml version="1.0" ?>
<sdf version="1.6">
<model name="flat_platform">
<!-- Link representing the flat platform -->
<link name="platform_link">
<!-- Visual properties -->
<visual name="platform_visual">
<geometry>
<box>
<size>5 5 0.1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
<!-- Collision properties -->
<collision name="platform_collision">
<geometry>
<box>
<size>5 5 0.1</size>
</box> shit
</geometry>
</collision>
<!-- Inertial properties (irrelevant, but required) -->
<inertial>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<iyy>1</iyy>
<izz>1</izz>
</inertia>
</inertial>
<!-- Sensor to measure the position of the platform -->
<sensor name="navsat_sensor" type="navsat">
<always_on>1</always_on>
<update_rate>30</update_rate>
</sensor>
</link>
<!-- plugin for sending direct velocity commands -->
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
<link_name>platform_link</link_name>
</plugin>
</model>
</sdf>
)"""";
req.set_sdf(platform_sdf);
// base dir: Tools/simulation/gz/models
// req.set_sdf_filename("platform.sdf");
req.set_allow_renaming(false);
// Set position & orientation. Origin hardcoded -- adapt to model pose?
gz::msgs::Pose *p = req.mutable_pose();
gz::msgs::Vector3d *position = p->mutable_position();
position->set_x(0.);
position->set_y(0.);
position->set_z(0.05);
gz::msgs::Quaternion *orientation = p->mutable_orientation();
orientation->set_x(0.);
orientation->set_y(0.);
orientation->set_z(0.);
orientation->set_w(1.);
std::string create_service = "/world/" + _world_name + "/create";
if (!callEntityFactoryService(create_service, req)) {
PX4_ERR("EntityFactory service call failed (platform)");
return false;
}
return true;
}
bool GZBridge::setPlatformPose(gz::msgs::Pose &pose)
{