Port px4vision airframe to gz environment

[TheotimeBalaguer]

Solved Problem

"PX4 Vision" Airframe availability for simulation in Gazebo

Fixes #{Github issue ID}

Solution

• Port the .sdf file from the model existing in gazebo-classic

Test coverage

• Gazebo-Garden test : With the launch from the command-line and control with QGroundControl : no problem
• Gazebo-Garden multidrone : I launched a simulation with 4 PX4Vision models and everything seems to work
• No Unit/integration tests.

Context

Related links, screenshot before/after, video

[beniaminopozzan]

Hi @TheotimeBalaguer , how did you start your simulations/tests? The usual

make px4_sitl gz_px4vision

doesn't work. Which is expected as you did not define an suitable airframe for that model.

Even spawning the model manually from the Gazebo GUI doesn't work:

Error [SDF.cc:154] Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
Error [parser.cc:748] Error finding file [/home/pozzan/git/PX4-Autopilot-gz/Tools/simulation/gz/models/px4vision/px4vision.sdf].

[TheotimeBalaguer]

Thanks for the review @beniaminopozzan,
Actually, I directly launch the px4 binary with export PX4_GZ_MODEL=px4vision while Gazebo is running. 😄
I realized today that I was flying the px4vision model with the x500 airframe. 👼
I have to admit that I am a bit lost on the compilation workflow of the PX4 project, is there any existing docs about that ?

What I found : the targets for Gazebo simulation are defined in Tools/simulation/gz/gz_bridge/CMakeLists.txt based upon the airframes defined in ROMFS/px4fmu_common.
Thus, I created a file "4006_gz_px4vision" which is nothing more than a mix between ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5 and ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500.
I gave the ID 4006 kind of randomly because it is the 6th model to be added to gz simulation, but also hesitated with 4020 as it is its ID in init.d...
@LorenzMeier could you please confirm I did nothing wrong with the naming ? (I think you are the one managing airframes).

Now, the command make px4_sitl gz_px4vision works, but I think a verification of the airframe is needed (file 4006_gz_px4vision), both for name and content. In particular, I commented some lines that were not recognized at the start of the PX4.

Thanks all for the help ! 👍

[Jaeyoung-Lim]

@TheotimeBalaguer Since this contains mesh files and is redundant to the x500_depth model, Would it be possible to put this up on ignition fuel?

[TheotimeBalaguer]

@TheotimeBalaguer Since this contains mesh files and is redundant to the x500_depth model, Would it be possible to put this up on ignition fuel?

Sure, but the best would be to upload it with the PX4 account on fuel, like the x500 model. I don't know who manages this kind of things.

[Jaeyoung-Lim]

@TheotimeBalaguer If you can tell me your user name for Ignition Fuel, I can add you to the PX4 organization: https://app.gazebosim.org/PX4

[TheotimeBalaguer]

@Jaeyoung-Lim my Ignition Fuel username is Tbalaguer. Thanks !

[Jaeyoung-Lim]

@TheotimeBalaguer Done! Let me know if you can upload the model!
If this is done, we can link the model directly from this repo to the model

Thanks!

[TheotimeBalaguer]

@Jaeyoung-Lim Thank you, I imported the px4vision model to Fuel (PX4 organization) and changed to a Fuel import in the .sdf file. I removed the meshes to reduce a bit the size of the PX4 project.

[Jaeyoung-Lim]

LGTM, Thanks!

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-12-2023/31552/1