* added optical flow to gz bridge
* log high rate sensor data
* it builds
* it builds and publishes, need to figure out build system now
* single library
* rename files
* add gz_msg for proto, fix build, test basic flow impl
* update rate, no blur
* PX4-OpticalFlow impl
* rename OpticalFlowSensor
* rename plugins
* disable gps, add plugin path
* cleanup
* fix plugin path export
* properly add OpticalFlowSystem dependency to gz
* move everything under gz_bridge
* cleanup
* add GZ_VEBOSE
* cleanup model/world build target cmake
* added GZ_DISTRO env, harmonic or ionic
* fix gz transport, unstage ark fpv bootloader
* unstage logged_topics.cpp
* cleanup
* make format
* ci fixes
* fix cmake
* remove required for gz-transport
* use model/world namespace for multi vehicle sim. Make format
* make format
* license
* remove needless member var
* made separate Kconfig for gz_msgs, gz_plugins, and gz_bridge
* move OpticalFlow build to it's own cmake
* fix clang
* cleanup comments
* fix rebase
* disable SENS_EN_GPSSIM for all gz airframes
* add GPS + noise to GZBridge
* remove mutex from gz callbacks. Callbacks run synchronously after sim update step and run() loop does not share resources.
* remove hrt check in callbacks
* format
* remove param set-default for already default params
* update submodule
* remove unnecessary comments
* overhaul of the GZBridge and px4-rc.simulator script
* remove arg
* shellcheck disable
* add bus/address
* start gz_bridge before adjusting sim speed or camera follow
* publish the global groundtruth from the navsat callback and rearrange the local groundtruth as the altitude reference now has a dependency on the global groundtruth being initialized
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Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
- for convenience merge px4_sitl_ign into px4_sitl_default, but allow simulator_ignition_bridge to quietly skip inclusion if ignition-transport isn't available
- simulator_ignition_bridge only try setting the system clock in
lockstep builds
- this simplifies usage and CI system dependencies
- rcS parameter backup try to directly restore param (FRAM) from backup (in case SD card is removed before successful export)
- rcS parameter backup logging rearrange to capture more logging output (param_import_fail.txt)
- posix rcS try to keep param backup and restore roughly in sync with NuttX rcS
- tinybson fix debug printf format
- param_export_internal ensure file descriptor positioned at 0 (precaution)
- new modules/simulation directory to collect all simulators and related modules
- new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
- simulation module renamed to simulator_mavlink
- sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
- ignition_simulator renamed to simulator_ignition_bridge
- large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
- sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
- new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
- 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>
Jacob Dahl