gz: Refactor GZBridge and px4-rc.simulator #24421
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
… update step and run() loop does not share resources.
This was referenced Feb 27, 2025
Merged
dakejahl
force-pushed
the
pr-gz_sim_overhaul
branch
from
982430c to
17016b9
Compare
AlexKlimaj
approved these changes
Mar 3, 2025
Jaeyoung-Lim
reviewed
Mar 4, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The GZBridge should only be a minimal interface between gz::transport and px4::uORB. I've refactored the module to remove all of the service calls. I've also cleaned up a lot of the code to ensure correctness.
Added service calls to px4-rc.simulator
-- Model spawn (optional pose)
-- Follow camera with offset (optional)
-- Faster than real-time (PX4_SIM_SPEED_FACTOR)
Added
sensor_gpspublishing to GZBridge in the NavSat callback (added noise)