Add SITL viewer model #51
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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Ryanf55
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| cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) | |||
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The intention is for system plugins such as the SitlViewer to go under ardupilot_gz_gazebo/src in their own sub-folder. This is how gz-sim is organised, where there is a gz-sim/src/systems directory. ardupilot_gz_gazebo already has hooks, so should install any system plugins to the appropriate {workpace}/install location.
The supplied examples (from the template) should really be under src/systems/basic_system and src/systems/full_system. They can be relocated as a separate PR to make the intent clearer.
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| prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share;@CMAKE_INSTALL_PREFIX@/share | |||
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Separate hooks should not be required if ardupilot_gz_gazebo is used.
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@Ryanf55 I've started to scan through this. Can you add a launch file to run the example or add the command required to get ArduPilot SITL and the viewer running to the README. Update Manage to get the node running. Getting this output (not working correctly): sitl-viewer.mov |
Yep! Do you think the approach of using gazebo transport is good, or would it be better to use a plugin instead? The key advantage of a plugin would be the ability to do lockstep, but I think for the purpose of a minimal demo, a dedicated ROS node that uses gz transport is simpler code. |
Purpose
Add a new model for the purpose of a SITL viewer. Work-in-progress.
Issue
Relates to ArduPilot/ardupilot_gazebo#90