Diffdrive Rover: Ported R1 to GZ and introduced new GZ wheel interface

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -0,0 +1,48 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default COM_PREARM_MODE 2
+
+param set-default NAV_ACC_RAD 0.5
+param set-default NAV_LOITER_RAD 2
+
+param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
+
+param set-default CA_R_REV 3
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 200
+param set-default SIM_GZ_EC_DIS1 100
+
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MAX2 200
+param set-default SIM_GZ_EC_DIS2 100
+
+param set-default SIM_GZ_MT_FUNC1 101
+param set-default SIM_GZ_MT_MIN1 0
+param set-default SIM_GZ_MT_MAX1 200
+param set-default SIM_GZ_MT_DIS1 100
+
+param set-default SIM_GZ_MT_FUNC2 102
+param set-default SIM_GZ_MT_MIN2 0
+param set-default SIM_GZ_MT_MAX2 200
+param set-default SIM_GZ_MT_DIS2 100

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -80,6 +80,7 @@ px4_add_romfs_files(
 	4005_gz_x500_vision
 	4006_gz_px4vision
 	4008_gz_advanced_plane
+	4009_gz_r1_rover
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

Tools/simulation/gz/models/r1_rover/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>r1_rover</name>
+  <version>1.0</version>
+  <sdf version='1.5'>r1_rover.sdf</sdf>
+  <license>https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt</license>
+
+  <author>
+   <name>Nicholas Nunno</name>
+  </author>
+
+  <description>
+    This is a model for the Aion robotics R1 ugv rover. The sdf file is adpated from [aion_io](https://github.com/aionrobotics/aion_io)
+  </description>
+</model>