SITL gz make airframes simulator specific

ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth

@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Gazebo x500 depth
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
+
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
+
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60

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

@@ -72,7 +72,8 @@ px4_add_romfs_files(
 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x
 
-	4001_x500
+	4001_gz_x500
+	4002_gz_x500_depth
 
 	2507_cloudship
 

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -21,12 +21,12 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 
 elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
-	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f ./gazebo_env.sh ]; then
-		. ./gazebo_env.sh
+	# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
+	if [ -f ./gz_env.sh ]; then
+		. ./gz_env.sh
 
-	elif [ -f ../gazebo_env.sh ]; then
-		. ../gazebo_env.sh
+	elif [ -f ../gz_env.sh ]; then
+		. ../gz_env.sh
 	fi
 
 	# "gz sim" only avaiilable in Garden and later
@@ -111,7 +111,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
 
-		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start

Tools/simulation/gz/models/x500-NoPlugin/model.config

@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-NoPlugin</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
-</model>

src/modules/simulation/gz_bridge/CMakeLists.txt

@@ -48,7 +48,7 @@ if(gz-transport_FOUND)
 
 	set(GZ_TRANSPORT_VER ${gz-transport_VERSION_MAJOR})
 
-	if (GZ_TRANSPORT_VER GREATER_EQUAL 12)
+	if(GZ_TRANSPORT_VER GREATER_EQUAL 12)
 		set(GZ_TRANSPORT_LIB gz-transport${GZ_TRANSPORT_VER}::core)
 	else()
 		set(GZ_TRANSPORT_LIB ignition-transport${GZ_TRANSPORT_VER}::core)
@@ -82,21 +82,74 @@ if(gz-transport_FOUND)
 		${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf
 	)
 
+	# find corresponding airframes
+	file(GLOB gz_airframes
+	     RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+	     ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_gz_*
+	)
+
+	# remove any .post files
+	foreach(gz_airframe IN LISTS gz_airframes)
+		if(gz_airframe MATCHES ".post")
+			list(REMOVE_ITEM gz_airframes ${gz_airframe})
+		endif()
+	endforeach()
+	list(REMOVE_DUPLICATES gz_airframes)
+
+	foreach(gz_airframe IN LISTS gz_airframes)
+		set(model_only)
+		string(REGEX REPLACE ".*_gz_" "" model_only ${gz_airframe})
+
+		if(EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}")
+
+			if((EXISTS "${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only}/model.sdf"))
+				#message(STATUS "Ignition SDF file found for ${model_only}")
+			else()
+				message(WARNING "Ignition no SDF file found for ${model_only}")
+			endif()
+
+		else()
+			message(WARNING "model directory ${PX4_SOURCE_DIR}/Tools/simulation/gz/models/${model_only} not found")
+		endif()
+	endforeach()
+
 	foreach(model ${gz_models})
+
+		# match model to airframe
+		set(airframe_model_only)
+		set(airframe_sys_autostart)
+		set(gz_airframe_found)
+		foreach(gz_airframe IN LISTS gz_airframes)
+
+			string(REGEX REPLACE ".*_gz_" "" airframe_model_only ${gz_airframe})
+			string(REGEX REPLACE "_gz_.*" "" airframe_sys_autostart ${gz_airframe})
+
+			if(model STREQUAL ${airframe_model_only})
+				set(gz_airframe_found ${gz_airframe})
+				break()
+			endif()
+		endforeach()
+
+		if(gz_airframe_found)
+			#message(STATUS "gz model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		else()
+			message(WARNING "gz missing model: ${model} (${airframe_model_only}), airframe: ${gz_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+		endif()
+
 		foreach(world ${gz_worlds})
 
 			get_filename_component("world_name" ${world} NAME_WE)
 
-			if(world_name MATCHES "default")
+			if(world_name STREQUAL "default")
 				add_custom_target(gz_${model}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
 				)
 			else()
 				add_custom_target(gz_${model}_${world_name}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_GZ_MODEL=${model} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
+					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
@@ -105,9 +158,7 @@ if(gz-transport_FOUND)
 		endforeach()
 	endforeach()
 
-
-	# TODO: PX4_GZ_MODELS_PATH
-	# PX4_GZ_WORLDS_PATH
-	configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
+	# PX4_GZ_MODELS, PX4_GZ_WORLDS, GZ_SIM_RESOURCE_PATH
+	configure_file(gz_env.sh.in ${PX4_BINARY_DIR}/rootfs/gz_env.sh)
 
 endif()