Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter.

[jmackay2]

Solved Problem

When adding a gz tailsitter, I found out that the current airspeed simulation is hard-coded to use the body velocity in the x direction. This doesn't work for the tailsitter, where the airspeed sensor needs to be rotated by 90 degrees to work correctly in fixed-wing flight.

Solution

This uncomments the gazebo airspeed integrations in the GZBridge and adds minor fixes to work correctly. This also adds a gazebo quadtailsitter configuration.

Changelog Entry

For release notes:

Feature: Adds the capability to use the Gazebo airspeed sensor and adds a Gazebo quadtailsitter.

Test coverage

• Simulation of the standard_vtol model in gazebo.
• Simulation of the quadtailsitter. The quadtailsitter in fixed-wing is very fast and probably needs a little more modifications to be more realistic.

[Jaeyoung-Lim]

LGTM!

[Jaeyoung-Lim]

@jmackay2 Could you rebase the PR so we can see if the SITL failures are real?

[Jaeyoung-Lim]

Thanks!

[daeyeonk]

Is this causing "make px4_sitl" to fail?

In file included from /root/PX4-Autopilot/src/modules/simulation/gz_bridge/GZBridge.cpp:34:
/root/PX4-Autopilot/src/modules/simulation/gz_bridge/GZBridge.hpp:105:47: error: 'AirSpeed' in namespace 'gz::msgs' does not name a type
105 | void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
| ^~~~~~~~
compilation terminated due to -Wfatal-errors.
[1025/1038] Building CXX object src/modules/mavlink/CMakeFiles/modules__mavlink.dir/mavlink_messages.cpp.o
ninja: build stopped: subcommand failed.
make: *** [Makefile:232: px4_sitl] Error 1

[jmackay2]

Is this causing "make px4_sitl" to fail?

In file included from /root/PX4-Autopilot/src/modules/simulation/gz_bridge/GZBridge.cpp:34: /root/PX4-Autopilot/src/modules/simulation/gz_bridge/GZBridge.hpp:105:47: error: 'AirSpeed' in namespace 'gz::msgs' does not name a type 105 | void airspeedCallback(const gz::msgs::AirSpeed &air_speed); | ^~~~~~~~ compilation terminated due to -Wfatal-errors. [1025/1038] Building CXX object src/modules/mavlink/CMakeFiles/modules__mavlink.dir/mavlink_messages.cpp.o ninja: build stopped: subcommand failed. make: *** [Makefile:232: px4_sitl] Error 1

It certainly sounds like it. What version of Gazebo are you using and what version of gz-sensors and gz-msgs do you have? Airspeed should have come into gz sensors and msgs about a year ago.

I see the air-speed library in gz-sensors in the latest gz versions: 7.3.0, and 8.2.0. I do not see it in gz-sensors 6 though.

[daeyeonk]

It certainly sounds like it. What version of Gazebo are you using and what version of gz-sensors and gz-msgs do you have? Airspeed should have come into gz sensors and msgs about a year ago.

I see the air-speed library in gz-sensors in the latest gz versions: 7.3.0, and 8.2.0. I do not see it in gz-sensors 6 though.

I am using bash ./PX4-Autopilot/Tools/setup/ubuntu.sh for 22.04

[dagar]

We need to do something to keep builds working on 22.04.

[hamishwillee]

So this didn't go in? Worth still fixing the tiny bug:

[jmackay2]

Sorry about breaking the 22.04 build. I am on 22.04, but I am running with gz-harmonic. I should have done more testing with the default 22.04 gz-garden to make sure it worked. I assumed there were airspeed was in gz::msgs since it was in gz::sensors, but I guess not.

The quickest fix that I tried was to change ./PX4-Autopilot/Tools/setup.ubuntu.sh for 22.04 to install gz-harmonic instead of gz-garden. This allowed the build to work successfully. I have been using gz-harmonic with PX4 and ROS in 22.04 for a while, so I think this would be fine, but maybe there are other points I'm not considering.

[jmackay2]

So this didn't go in? Worth still fixing the tiny bug:

Thanks @hamishwillee for the reminder that I slipped that bug fix in. I'll make a small PR for it.

[Jaeyoung-Lim]

We should probably switch to harmonic since that is the LTS. However, this would mean that we explicitly state that we are going to make a breaking change.