gazebo_px4

ROS2 package for the usage of the gazebo simulation with the PX4 firmware

Basically only implements the DVL gazebo bridge. Using the classical gazebo DVL sensor.

adding DVL to model:

add this DVL sensor to the BlueAUV Model: <sensor name="doppler_velocity_log" type="custom" gz:type="dvl"> <pose degrees="true">0 0 -0.4 180 0 0</pose> <always_on>1</always_on> <update_rate>4</update_rate> <topic>/dvl/velocity</topic> <gz:dvl> <type>phased_array</type> <arrangement degrees="true"> <beam id="1"> <aperture>2</aperture> <rotation>45</rotation> <tilt>30</tilt> </beam> <beam> <aperture>2</aperture> <rotation>135</rotation> <tilt>30</tilt> </beam> <beam> <aperture>2</aperture> <rotation>-45</rotation> <tilt>30</tilt> </beam> <beam> <aperture>2</aperture> <rotation>-135</rotation> <tilt>30</tilt> </beam> </arrangement> <tracking> <bottom_mode> <when>best</when> <noise type="gaussian"> <!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs --> <stddev>0.002</stddev> </noise> <visualize>false</visualize> </bottom_mode> </tracking> <!-- Roughly 1 m resolution at a 100m --> <resolution>0.01</resolution> <maximum_range>100.</maximum_range> <minimum_range>0.1</minimum_range> <!-- ENU to SFM --> <reference_frame>0 0 0 0 0 0</reference_frame> </gz:dvl> </sensor>

to World file: <plugin entity_name="*" entity_type="world" filename="gz-sim-dvl-system" name="gz::sim::systems::DopplerVelocityLogSystem"/> to server.config in gz_bridge and comment out to make the DVL work in PX4. <plugin entity_name="*" entity_type="world" filename="libOpticalFlowSystem.so" name="custom::OpticalFlowSystem"/>