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make sensor definitions consistent
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@stibipet
stibipet committed Nov 15, 2023
1 parent 7f537d5 commit 0a6b969
Showing 1 changed file with 21 additions and 23 deletions.
44 changes: 21 additions & 23 deletions .../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -844,29 +844,27 @@ limitations under the License.

<!-- Macro to add the gps_plugin {-->
{%- macro gps_macro(gps_name, parent_link, update_rate, gps_noise, gps_xy_random_walk, gps_z_random_walk, gps_xy_noise_density, gps_z_noise_density, gps_vxy_noise_density, gps_vz_noise_density, x, y, z, roll, pitch, yaw) -%}
<model name="{{ gps_name }}">
<link name="link">
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
{{ zero_inertial_macro() }}
<sensor name="gps_sensor" type="gps">
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace/>
<update_rate>{{ update_rate }}</update_rate>
<gpsNoise>{{ gps_noise }}</gpsNoise>
<gpsXYRandomWalk>{{ gps_xy_random_walk }}</gpsXYRandomWalk>
<gpsZRandomWalk>{{ gps_z_random_walk }}</gpsZRandomWalk>
<gpsXYNoiseDensity>{{ gps_xy_noise_density }}</gpsXYNoiseDensity>
<gpsZNoiseDensity>{{ gps_z_noise_density }}</gpsZNoiseDensity>
<gpsVXYNoiseDensity>{{ gps_vxy_noise_density }}</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>{{ gps_vz_noise_density }}</gpsVZNoiseDensity>
<topic>{{ gps_name }}</topic>
</plugin>
</sensor>
</link>
</model>
<link name="{{ gps_name }}_link">

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@spurnvoj

spurnvoj Nov 15, 2023

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@stibipet I left it as a model, so it is the same as for baro, imu and other important sensors that are already model plugins. The GPS plugin was not transported to the model plugin yet in the sitl version (git commit) we use. Therefore, you cannot have for example multiple GPS running.

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@stibipet

stibipet Nov 16, 2023

Author Member

I'm sorry but I do not understand your point.

  • Baro, imu and other sensors are added as links, not models. This is why I suggest this change to make it consistent.
  • You can simulate multiple GPS modules (multiple drones, multiple GPS per drone) without nested models.

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@spurnvoj

spurnvoj Nov 16, 2023

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There was some problem with why it didn't work with ModelPlugin. Here is the PR that I used as a reference when I was working on it PX4/PX4-SITL_gazebo-classic#905. However, They reverted the PR later because it was slowing the simulation. So you still cannot have multiple sensors that would be actively detected by PX4. They will be there, but PX4 will not use them.

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@spurnvoj

spurnvoj Nov 16, 2023 •
edited
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I think the problem is/was in the mavlink_plugin in this part https://github.com/ctu-mrs/px4_sitl_gazebo/blob/firmware_1.13.2-deb/src/gazebo_mavlink_interface.cpp#L447. But maybe I remember wrong.
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
{{ zero_inertial_macro() }}
<sensor name="gps_sensor" type="gps">
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace/>
<update_rate>{{ update_rate }}</update_rate>
<gpsNoise>{{ gps_noise }}</gpsNoise>
<gpsXYRandomWalk>{{ gps_xy_random_walk }}</gpsXYRandomWalk>
<gpsZRandomWalk>{{ gps_z_random_walk }}</gpsZRandomWalk>
<gpsXYNoiseDensity>{{ gps_xy_noise_density }}</gpsXYNoiseDensity>
<gpsZNoiseDensity>{{ gps_z_noise_density }}</gpsZNoiseDensity>
<gpsVXYNoiseDensity>{{ gps_vxy_noise_density }}</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>{{ gps_vz_noise_density }}</gpsVZNoiseDensity>
<topic>{{ gps_name }}</topic>
</plugin>
</sensor>
</link>

<joint name='{{ gps_name }}_joint' type='fixed'>
<child>{{ gps_name }}::link</child>
<child>{{ gps_name }}_link</child>
<parent>{{ parent_link }}</parent>
</joint>

Expand Down Expand Up @@ -1238,7 +1236,7 @@ limitations under the License.

<!-- Macro to add a garmin (connected to the pixhawk) {-->
{%- macro garmin_macro(sensor_name, parent_link, x, y, z, roll, pitch, yaw) -%}
<link name="{{ sensor_name }}::link">
<link name="{{ sensor_name }}_link">
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
{{ zero_inertial_macro() }}
<visual name="visual">
Expand Down Expand Up @@ -1290,7 +1288,7 @@ limitations under the License.

<joint name="{{ sensor_name }}_joint" type="fixed">
<parent>{{ parent_link }}</parent>
<child>{{ sensor_name }}::link</child>
<child>{{ sensor_name }}_link</child>
</joint>
{%- endmacro -%}
<!--}-->
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