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Rover: Simulation Update (#25644)

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* gz: update submodule

* rover: update simulation airframes

* docs: rover simulation
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chfriedrich98
2025-10-01 09:04:07 +02:00
committed by GitHub
parent 5dab3dd3d2
commit a6bf5a9066
13 changed files with 93 additions and 64 deletions
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docs/en/sim_gazebo_gz/index.md
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@@ -50,22 +50,24 @@ This runs both the PX4 SITL instance and the Gazebo client.
The supported vehicles and `make` commands are listed below.
Note that all gazebo make targets have the prefix `gz_`.
| Vehicle | Command | `PX4_SYS_AUTOSTART` |
| ----------------------------------------------------------------------------------------------------------------------------- | ----------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| Vehicle | Command | `PX4_SYS_AUTOSTART` |
| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_rover_differential` | 50000 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 51000 |
| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) | `make px4_sitl gz_rover_mecanum` | 52000 |
All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
@@ -164,16 +166,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500
The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.
| World | Command | Description |
| ----------------- | ---------------------------------- | ----------------------------------------------------------- |
| `default` | `make px4_sitl *` | Empty world (a grey plane) |
| `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing |
| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water |
| `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers |
| `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) |
| `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention |
| `windy` | `make px4_sitl *_windy` | Empty world with wind enabled |
| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform |
| World | Command | Description |
| ----------------- | --------------------------------- | ----------------------------------------------------------- |
| `default` | `make px4_sitl *` | Empty world (a grey plane) |
| `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing |
| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water |
| `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers |
| `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) |
| `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention |
| `windy` | `make px4_sitl *_windy` | Empty world with wind enabled |
| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform |
:::warning
Note that if no world is specified, PX4 will use the `default` world.
docs/en/sim_gazebo_gz/vehicles.md
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@@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor
[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_r1_rover
make px4_sitl gz_rover_differential
```
![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png)
@@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann
```
![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png)
### Mecanum Rover
[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_rover_mecanum
```
![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)