Gazebo Simulation Enablement (#20319)

.vscode/tasks.json

@@ -218,10 +218,10 @@
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -342,8 +342,8 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "ignWorld",
+            "id": "gzWorld",
-            "description": "Ignition world",
+            "description": "gz world",
             "options": [
                 "default"
             ],

ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500

@@ -1,15 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +30,19 @@ 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_IGN_FUNC1 101
+param set-default SIM_GZ_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
+param set-default SIM_GZ_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
+param set-default SIM_GZ_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+param set-default SIM_GZ_FUNC4 104
 
-param set-default SIM_IGN_MIN1 150
+param set-default SIM_GZ_MIN1 150
-param set-default SIM_IGN_MIN2 150
+param set-default SIM_GZ_MIN2 150
-param set-default SIM_IGN_MIN3 150
+param set-default SIM_GZ_MIN3 150
-param set-default SIM_IGN_MIN4 150
+param set-default SIM_GZ_MIN4 150
 
-param set-default SIM_IGN_MAX1 1000
+param set-default SIM_GZ_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
+param set-default SIM_GZ_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
+param set-default SIM_GZ_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+param set-default SIM_GZ_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60

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

@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -26,28 +26,52 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi
 
-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
+		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
+	else
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
+	fi
 
-	if [ -z $ign_world ]; then
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
-		# starting ign gazebo with ${PX4_SIM_WORLD} world
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
-
+# shellcheck disable=SC2153
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
 		if [ -z $HEADLESS ]; then
 			# HEADLESS not set, starting ign gazebo gui
 			ign gazebo -g &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running world: $ign_world"
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
-		PX4_SIM_WORLD=$ign_world
+		PX4_GZ_WORLD=$gz_world
 	fi
 
-	if [ -z $PX4_IGN_MODEL_POSE ]; then
+# shellcheck disable=SC2236
-		# start ignition bridge without pose arg.
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
-		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
+
-		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
@@ -55,22 +79,29 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
 	else
-
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
-		# Clean potential input line formatting.
+		exit 1
-		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
-
-		# start ignition bridge with pose arg.
-		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-
 	fi
 
 else

Tools/setup/ubuntu.sh

@@ -16,6 +16,7 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_SIM_JAMMY="false"
 
 # Parse arguments
 for arg in "$@"
@@ -28,6 +29,10 @@ do
 		INSTALL_SIM="false"
 	fi
 
+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done
 
 # detect if running in docker
@@ -67,6 +72,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi
 
 
@@ -146,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;

Tools/simulation/gz/models/x500-Depth/model.sdf

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>

Tools/simulation/gz/models/x500/model.sdf

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+  </model>
+</sdf>

Tools/simulation/ignition/models/x500-Base/model.config

@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-Base</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>

Tools/simulation/ignition/models/x500-Depth/model.sdf

@@ -1,85 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Depth'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
-      <pose>.12 .03 .242 0 0 0</pose>
-    </include>
-    <joint name="CameraJoint" type="fixed">
-      <parent>base_link</parent>
-      <child>OakD-Lite/base_link</child>
-      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
-    </joint>
-  </model>
-</sdf>

Tools/simulation/ignition/models/x500/model.sdf

@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-  </model>
-</sdf>

boards/px4/sitl/default.px4board

@@ -41,7 +41,7 @@ CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y

platforms/posix/Debug/launch_sitl.json.in

@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "SITL (Ignition Gazebo)",
+            "name": "SITL (GZ)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
@@ -15,7 +15,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_IGN_GZ_SIM_MODEL}"
+                    "value": "${input:PX4_GZ_MODEL}"
                 }
             ],
             "externalConsole": false,
@@ -226,8 +226,8 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "PX4_IGN_GZ_SIM_MODEL",
+            "id": "PX4_GZ_MODEL",
-            "description": "Ignition Gazebo vehicle model",
+            "description": "GZ vehicle model",
             "options": [
               "x500",
             ],

src/modules/simulation/gz_bridge/CMakeLists.txt

@@ -48,13 +48,13 @@ if(ignition-transport_FOUND)
 	set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
 
 	px4_add_module(
-		MODULE modules__simulation__ignition_bridge
+		MODULE modules__simulation__gz_bridge
-		MAIN simulator_ignition_bridge
+		MAIN gz_bridge
 		COMPILE_FLAGS
 			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
-			SimulatorIgnitionBridge.cpp
+			GZBridge.cpp
-			SimulatorIgnitionBridge.hpp
+			GZBridge.hpp
 		DEPENDS
 			mixer_module
 			px4_work_queue
@@ -63,33 +63,33 @@ if(ignition-transport_FOUND)
 			module.yaml
 	)
 
-	file(GLOB ign_models
+	file(GLOB gz_models
 		LIST_DIRECTORIES true
-		RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
+		RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/gz/models
 		CONFIGURE_DEPENDS
-		${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
+		${PX4_SOURCE_DIR}/Tools/simulation/gz/models/*
 	)
 
-	file(GLOB ign_worlds
+	file(GLOB gz_worlds
 		CONFIGURE_DEPENDS
-		${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
+		${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf
 	)
 
-	foreach(model ${ign_models})
+	foreach(model ${gz_models})
-		foreach(world ${ign_worlds})
+		foreach(world ${gz_worlds})
 
 			get_filename_component("world_name" ${world} NAME_WE)
 
 			if(world_name MATCHES "default")
-				add_custom_target(ign_${model}
+				add_custom_target(gz_${model}
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
 				)
 			else()
-				add_custom_target(ign_${model}_${world_name}
+				add_custom_target(gz_${model}_${world_name}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+					COMMAND ${CMAKE_COMMAND} -E env PX4_GZ_MODEL=${model} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
@@ -99,8 +99,8 @@ if(ignition-transport_FOUND)
 	endforeach()
 
 
-	# TODO: PX4_IGN_MODELS_PATH
+	# TODO: PX4_GZ_MODELS_PATH
-	# PX4_IGN_WORLDS_PATH
+	# PX4_GZ_WORLDS_PATH
 	configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
 
 endif()

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "SimulatorIgnitionBridge.hpp"
+#include "GZBridge.hpp"
 
 #include <uORB/Subscription.hpp>
 
@@ -42,10 +42,12 @@
 #include <iostream>
 #include <string>
 
-SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str) :
+GZBridge::GZBridge(const char *world, const char *name, const char *model,
+		   const char *pose_str) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_world_name(world),
-	_model_name(model),
+	_model_name(name),
+	_model_sim(model),
 	_model_pose(pose_str)
 {
 	pthread_mutex_init(&_mutex, nullptr);
@@ -53,7 +55,7 @@ SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *
 	updateParams();
 }
 
-SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
+GZBridge::~GZBridge()
 {
 	// TODO: unsubscribe
 
@@ -62,71 +64,73 @@ SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
 	}
 }
 
-int SimulatorIgnitionBridge::init()
+int GZBridge::init()
 {
-	// service call to create model
+	if (!_model_sim.empty()) {
-	// ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
-	ignition::msgs::EntityFactory req{};
-	req.set_sdf_filename(_model_name + "/model.sdf");
 
-	// TODO: support model instances?
+		// service call to create model
-	// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
+		// ign service -s /world/${PX4_GZ_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_GZ_MODEL}/model.sdf\""
-	req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
+		ignition::msgs::EntityFactory req{};
+		req.set_sdf_filename(_model_sim + "/model.sdf");
 
-	if (!_model_pose.empty()) {
+		req.set_name(_model_name); // New name for the entity, overrides the name on the SDF.
-		PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
 
-		std::vector<double> model_pose_v;
+		req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
 
-		std::stringstream ss(_model_pose);
+		if (!_model_pose.empty()) {
+			PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
 
-		while (ss.good()) {
+			std::vector<float> model_pose_v;
-			std::string substr;
+
-			std::getline(ss, substr, ',');
+			std::stringstream ss(_model_pose);
-			model_pose_v.push_back(std::stod(substr));
+
+			while (ss.good()) {
+				std::string substr;
+				std::getline(ss, substr, ',');
+				model_pose_v.push_back(std::stof(substr));
+			}
+
+			while (model_pose_v.size() < 6) {
+				model_pose_v.push_back(0.0);
+			}
+
+			ignition::msgs::Pose *p = req.mutable_pose();
+			ignition::msgs::Vector3d *position = p->mutable_position();
+			position->set_x(model_pose_v[0]);
+			position->set_y(model_pose_v[1]);
+			position->set_z(model_pose_v[2]);
+
+			ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
+
+			q.Normalize();
+			ignition::msgs::Quaternion *orientation = p->mutable_orientation();
+			orientation->set_x(q.X());
+			orientation->set_y(q.Y());
+			orientation->set_z(q.Z());
+			orientation->set_w(q.W());
 		}
 
-		while (model_pose_v.size() < 6) {
+		//world/$WORLD/create service.
-			model_pose_v.push_back(0.0);
+		ignition::msgs::Boolean rep;
-		}
+		bool result;
+		std::string create_service = "/world/" + _world_name + "/create";
 
-		ignition::msgs::Pose *p = req.mutable_pose();
+		if (_node.Request(create_service, req, 1000, rep, result)) {
-		ignition::msgs::Vector3d *position = p->mutable_position();
+			if (!rep.data() || !result) {
-		position->set_x(model_pose_v[0]);
+				PX4_ERR("EntityFactory service call failed");
-		position->set_y(model_pose_v[1]);
+				return PX4_ERROR;
-		position->set_z(model_pose_v[2]);
+			}
 
-		ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
+		} else {
-
+			PX4_ERR("Service call timed out");
-		q.Normalize();
-		ignition::msgs::Quaternion *orientation = p->mutable_orientation();
-		orientation->set_x(q.X());
-		orientation->set_y(q.Y());
-		orientation->set_z(q.Z());
-		orientation->set_w(q.W());
-	}
-
-	//world/$WORLD/create service.
-	ignition::msgs::Boolean rep;
-	bool result;
-	std::string create_service = "/world/" + _world_name + "/create";
-
-	if (_node.Request(create_service, req, 1000, rep, result)) {
-		if (!rep.data() || !result) {
-			PX4_ERR("EntityFactory service call failed");
 			return PX4_ERROR;
 		}
-
-	} else {
-		PX4_ERR("Service call timed out");
-		return PX4_ERROR;
 	}
 
-
 	// clock
 	std::string clock_topic = "/world/" + _world_name + "/clock";
 
-	if (!_node.Subscribe(clock_topic, &SimulatorIgnitionBridge::clockCallback, this)) {
+	if (!_node.Subscribe(clock_topic, &GZBridge::clockCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", clock_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -134,7 +138,7 @@ int SimulatorIgnitionBridge::init()
 	// pose: /world/$WORLD/pose/info
 	std::string world_pose_topic = "/world/" + _world_name + "/pose/info";
 
-	if (!_node.Subscribe(world_pose_topic, &SimulatorIgnitionBridge::poseInfoCallback, this)) {
+	if (!_node.Subscribe(world_pose_topic, &GZBridge::poseInfoCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", world_pose_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -142,15 +146,15 @@ int SimulatorIgnitionBridge::init()
 	// IMU: /world/$WORLD/model/$MODEL/link/base_link/sensor/imu_sensor/imu
 	std::string imu_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/base_link/sensor/imu_sensor/imu";
 
-	if (!_node.Subscribe(imu_topic, &SimulatorIgnitionBridge::imuCallback, this)) {
+	if (!_node.Subscribe(imu_topic, &GZBridge::imuCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", imu_topic.c_str());
 		return PX4_ERROR;
 	}
 
-	// ESC feedback: /model/X3/command/motor_speed
+	// ESC feedback: /x500/command/motor_speed
-	std::string motor_speed_topic = "/model/" + _model_name + "/command/motor_speed";
+	std::string motor_speed_topic = "/" + _model_name + "/command/motor_speed";
 
-	if (!_node.Subscribe(motor_speed_topic, &SimulatorIgnitionBridge::motorSpeedCallback, this)) {
+	if (!_node.Subscribe(motor_speed_topic, &GZBridge::motorSpeedCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", motor_speed_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -160,9 +164,8 @@ int SimulatorIgnitionBridge::init()
 		PX4_INFO("subscribed: %s", sub_topic.c_str());
 	}
 
-
+	// output eg /X500/command/motor_speed
-	// output eg /model/X3/command/motor_speed
+	std::string actuator_topic = "/" + _model_name + "/command/motor_speed";
-	std::string actuator_topic = "/model/" + _model_name + "/command/motor_speed";
 	_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
 
 	if (!_actuators_pub.Valid()) {
@@ -174,11 +177,13 @@ int SimulatorIgnitionBridge::init()
 	return OK;
 }
 
-int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
+int GZBridge::task_spawn(int argc, char *argv[])
 {
 	const char *world_name = "default";
 	const char *model_name = nullptr;
 	const char *model_pose = nullptr;
+	const char *model_sim = nullptr;
+	const char *px4_instance = nullptr;
 
 
 	bool error_flag = false;
@@ -186,14 +191,14 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "w:m:p:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "w:m:p:i:n:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'w':
 			// world
 			world_name = myoptarg;
 			break;
 
-		case 'm':
+		case 'n':
 			// model
 			model_name = myoptarg;
 			break;
@@ -203,6 +208,16 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 			model_pose = myoptarg;
 			break;
 
+		case 'm':
+			// pose
+			model_sim = myoptarg;
+			break;
+
+		case 'i':
+			// pose
+			px4_instance = myoptarg;
+			break;
+
 		case '?':
 			error_flag = true;
 			break;
@@ -218,13 +233,27 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	PX4_INFO("world: %s, model: %s", world_name, model_name);
-
 	if (!model_pose) {
 		model_pose = "";
 	}
 
-	SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_pose);
+	if (!model_sim) {
+		model_sim = "";
+	}
+
+	if (!px4_instance) {
+		if (!model_name) {
+			model_name = model_sim;
+		}
+
+	} else if (!model_name) {
+		std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
+		model_name = model_name_std.c_str();
+	}
+
+	PX4_INFO("world: %s, model name: %s, simulation model: %s", world_name, model_name, model_sim);
+
+	GZBridge *instance = new GZBridge(world_name, model_name, model_sim, model_pose);
 
 	if (instance) {
 		_object.store(instance);
@@ -270,7 +299,7 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
+bool GZBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
 {
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
@@ -287,7 +316,7 @@ bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t
 	return false;
 }
 
-void SimulatorIgnitionBridge::clockCallback(const ignition::msgs::Clock &clock)
+void GZBridge::clockCallback(const ignition::msgs::Clock &clock)
 {
 	pthread_mutex_lock(&_mutex);
 
@@ -300,7 +329,7 @@ void SimulatorIgnitionBridge::clockCallback(const ignition::msgs::Clock &clock)
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::imuCallback(const ignition::msgs::IMU &imu)
+void GZBridge::imuCallback(const ignition::msgs::IMU &imu)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -355,7 +384,7 @@ void SimulatorIgnitionBridge::imuCallback(const ignition::msgs::IMU &imu)
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::poseInfoCallback(const ignition::msgs::Pose_V &pose)
+void GZBridge::poseInfoCallback(const ignition::msgs::Pose_V &pose)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -475,7 +504,7 @@ void SimulatorIgnitionBridge::poseInfoCallback(const ignition::msgs::Pose_V &pos
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::motorSpeedCallback(const ignition::msgs::Actuators &actuators)
+void GZBridge::motorSpeedCallback(const ignition::msgs::Actuators &actuators)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -504,8 +533,8 @@ void SimulatorIgnitionBridge::motorSpeedCallback(const ignition::msgs::Actuators
 	pthread_mutex_unlock(&_mutex);
 }
 
-bool SimulatorIgnitionBridge::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool GZBridge::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-		unsigned num_control_groups_updated)
+			     unsigned num_control_groups_updated)
 {
 	unsigned active_output_count = 0;
 
@@ -534,7 +563,7 @@ bool SimulatorIgnitionBridge::updateOutputs(bool stop_motors, uint16_t outputs[M
 	return false;
 }
 
-void SimulatorIgnitionBridge::Run()
+void GZBridge::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
@@ -563,7 +592,7 @@ void SimulatorIgnitionBridge::Run()
 	pthread_mutex_unlock(&_mutex);
 }
 
-int SimulatorIgnitionBridge::print_status()
+int GZBridge::print_status()
 {
 	//perf_print_counter(_cycle_perf);
 	_mixing_output.printStatus();
@@ -571,12 +600,12 @@ int SimulatorIgnitionBridge::print_status()
 	return 0;
 }
 
-int SimulatorIgnitionBridge::custom_command(int argc, char *argv[])
+int GZBridge::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int SimulatorIgnitionBridge::print_usage(const char *reason)
+int GZBridge::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -588,17 +617,19 @@ int SimulatorIgnitionBridge::print_usage(const char *reason)
 
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
+	PRINT_MODULE_USAGE_NAME("gz_bridge", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Fuel model name", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, nullptr, "Model Pose", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Model name", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('i', nullptr, nullptr, "PX4 instance", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;
 }
 
-extern "C" __EXPORT int simulator_ignition_bridge_main(int argc, char *argv[])
+extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[])
 {
-	return SimulatorIgnitionBridge::main(argc, argv);
+	return GZBridge::main(argc, argv);
 }

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -60,11 +60,11 @@
 
 using namespace time_literals;
 
-class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
+class GZBridge : public ModuleBase<GZBridge>, public OutputModuleInterface
 {
 public:
-	SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str);
+	GZBridge(const char *world, const char *name, const char *model, const char *pose_str);
-	~SimulatorIgnitionBridge() override;
+	~GZBridge() override;
 
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
@@ -121,16 +121,17 @@ private:
 
 	const std::string _world_name;
 	const std::string _model_name;
+	const std::string _model_sim;
 	const std::string _model_pose;
 
-	MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"SIM_GZ", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	ignition::transport::Node _node;
 	ignition::transport::Node::Publisher _actuators_pub;
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::SIM_IGN_HOME_LAT>) _param_sim_home_lat,
+		(ParamFloat<px4::params::SIM_GZ_HOME_LAT>) _param_sim_home_lat,
-		(ParamFloat<px4::params::SIM_IGN_HOME_LON>) _param_sim_home_lon,
+		(ParamFloat<px4::params::SIM_GZ_HOME_LON>) _param_sim_home_lon,
-		(ParamFloat<px4::params::SIM_IGN_HOME_ALT>) _param_sim_home_alt
+		(ParamFloat<px4::params::SIM_GZ_HOME_ALT>) _param_sim_home_alt
 	)
 };

src/modules/simulation/gz_bridge/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_GZ_BRIDGE
+	bool "gz_bridge"
+	default n
+	---help---
+		Enable support for gz_bridge

src/modules/simulation/gz_bridge/gazebo_env.sh.in

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
+export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
+
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS

src/modules/simulation/gz_bridge/module.yaml

@@ -1,7 +1,7 @@
-module_name: SIM_IGN
+module_name: SIM_GZ
 actuator_output:
   output_groups:
-    - param_prefix: SIM_IGN
+    - param_prefix: SIM_GZ
       channel_label: Channel
       num_channels: 8
       standard_params:

src/modules/simulation/gz_bridge/parameters.c

@@ -37,7 +37,7 @@
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LAT, 47.397742f);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LAT, 47.397742f);
 
 /**
  * simulator origin longitude
@@ -45,7 +45,7 @@ PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LAT, 47.397742f);
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LON, 8.545594);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LON, 8.545594);
 
 /**
  * simulator origin altitude
@@ -53,4 +53,4 @@ PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LON, 8.545594);
  * @unit m
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_ALT, 488.0);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_ALT, 488.0);

src/modules/simulation/simulator_ignition_bridge/Kconfig

@@ -1,5 +0,0 @@
-menuconfig MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE
-	bool "simulator_ignition_bridge"
-	default n
-	---help---
-		Enable support for simulator_ignition_bridge

src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in

@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-export PX4_IGN_GAZEBO_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/models
-export PX4_IGN_GAZEBO_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/worlds
-
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_IGN_GAZEBO_MODELS