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simulation/gz_bridge: enable navsat plugin for accurate positioning of real life maps in Gazebo (#22638)

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* 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>
This commit is contained in:
Frederik Markus
2024-02-13 17:09:35 +01:00
committed by GitHub
parent c9ad60e3cc
commit bb53781b8f
4 changed files with 66 additions and 67 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
-13
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@@ -41,19 +41,6 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
echo "INFO [init] Gazebo simulator"
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
fi
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
if [ -z "${PX4_GZ_STANDALONE}" ]; then