gz: print version number in init, remove gst plugin spam, rename function

Author: dakejahl

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

@@ -1,8 +1,6 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-echo "INFO  [init] Gazebo simulator"
-
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')
@@ -17,14 +15,16 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"
 
+	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
+
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
 		echo "INFO  [init] Setting Gazebo render engine to '${PX4_GZ_SIM_RENDER_ENGINE}'!"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+    echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
     exit 1
 fi
 

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -43,6 +43,8 @@
 #include <iostream>
 #include <string>
 
+static float generate_wgn();
+
 GZBridge::GZBridge(const std::string &world, const std::string &model_name) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -130,7 +132,7 @@ int GZBridge::init()
 	std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
 					 "/link/base_link/sensor/air_pressure_sensor/air_pressure";
 
-	if (!_node.Subscribe(air_pressure_topic, &GZBridge::barometerCallback, this)) {
+	if (!_node.Subscribe(air_pressure_topic, &GZBridge::airPressureCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", air_pressure_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -254,7 +256,7 @@ void GZBridge::magnetometerCallback(const gz::msgs::Magnetometer &msg)
 	_sensor_mag_pub.publish(report);
 }
 
-void GZBridge::barometerCallback(const gz::msgs::FluidPressure &msg)
+void GZBridge::airPressureCallback(const gz::msgs::FluidPressure &msg)
 {
 	const uint64_t timestamp = hrt_absolute_time();
 
@@ -495,7 +497,7 @@ void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &msg)
 	_visual_odometry_pub.publish(report);
 }
 
-static float generate_wgn()
+float generate_wgn()
 {
 	// generate white Gaussian noise sample with std=1
 

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -110,7 +110,7 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 
 	void clockCallback(const gz::msgs::Clock &msg);
 	void airspeedCallback(const gz::msgs::AirSpeed &msg);
-	void barometerCallback(const gz::msgs::FluidPressure &msg);
+	void airPressureCallback(const gz::msgs::FluidPressure &msg);
 	void imuCallback(const gz::msgs::IMU &msg);
 	void poseInfoCallback(const gz::msgs::Pose_V &msg);
 	void odometryCallback(const gz::msgs::OdometryWithCovariance &msg);

src/modules/simulation/gz_plugins/gstreamer/GstCameraSystem.cpp

@@ -175,10 +175,6 @@ void GstCameraSystem::findCameraTopic()
 			}
 		}
 	}
-
-	if (!_initialized) {
-		gzdbg << "No camera topics found yet, will check again next update" << std::endl;
-	}
 }
 
 //////////////////////////////////////////////////