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gz: use server config file for loading world plugins #24441

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Merged
merged 15 commits into from
Mar 6, 2025
Merged

gz: use server config file for loading world plugins #24441

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d5d7321
gz: use server config file for loading world plugins
dakejahl Mar 3, 2025
8a02f9d
submodule
dakejahl Mar 4, 2025
35fb095
use server.config in tree
dakejahl Mar 4, 2025
f1d2113
newlines
dakejahl Mar 4, 2025
c93642e
format
dakejahl Mar 4, 2025
b60edf1
gzbridge: rename function
dakejahl Mar 4, 2025
61cc95a
format
dakejahl Mar 4, 2025
8f6e514
gzbridge: add magnetometer callback
dakejahl Mar 4, 2025
8407eb5
change gz_find_package to find_package
dakejahl Mar 4, 2025
de76eaf
fix up directory structure and cmake to allow multiple plugins
dakejahl Mar 4, 2025
029189c
newlines
dakejahl Mar 4, 2025
ca1bea2
add comment block explaining gz_env.sh
dakejahl Mar 4, 2025
d336f51
remove dupe readme
dakejahl Mar 4, 2025
b001a2e
remove SENS_EN_MAGSIM from all gz airframe files except spacecraft
dakejahl Mar 5, 2025
b3498dd
update gz submodule
dakejahl Mar 5, 2025
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2 changes: 1 addition & 1 deletion Tools/simulation/gz
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Submodule gz updated 11 files
+1 −1 models/advanced_plane/model.sdf
+1 −1 sdf_parsing/check_sdf.cc
+0 −11 worlds/aruco.sdf
+0 −11 worlds/baylands.sdf
+1 −13 worlds/default.sdf
+0 −15 worlds/forest.sdf
+0 −11 worlds/frictionless.sdf
+0 −11 worlds/lawn.sdf
+0 −11 worlds/rover.sdf
+0 −11 worlds/walls.sdf
+1 −12 worlds/windy.sdf
8 changes: 7 additions & 1 deletion src/modules/simulation/gz_bridge/gz_env.sh.in
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Original file line number Diff line number Diff line change
@@ -1,8 +1,14 @@
#!/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 PX4_GZ_PLUGINS=@PX4_BINARY_DIR@/src/modules/simulation/gz_plugins
export PX4_GZ_SERVER_CONFIG=@PX4_SOURCE_DIR@/src/modules/simulation/gz_bridge/server.config

export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PX4_GZ_PLUGINS
export GZ_SIM_SERVER_CONFIG_PATH=$HOME/.gz/sim/px4/server.config

# We load plugins specific for PX4 through our own server config file
# See https://gazebosim.org/api/sim/8/server_config.html
mkdir -p $HOME/.gz/sim/px4/
cp $PX4_GZ_SERVER_CONFIG $GZ_SIM_SERVER_CONFIG_PATH
60 changes: 60 additions & 0 deletions src/modules/simulation/gz_bridge/server.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
<server_config>
<plugins>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-contact-system"
name="gz::sim::systems::Contact">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-air-pressure-system"
name="gz::sim::systems::AirPressure">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-air-speed-system"
name="gz::sim::systems::AirSpeed">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-apply-link-wrench-system"
name="gz::sim::systems::ApplyLinkWrench">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-navsat-system"
name="gz::sim::systems::NavSat">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="libOpticalFlowSystem.so"
name="custom::OpticalFlowSystem">
</plugin>
</plugins>
</server_config>
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