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Updates GZBridge to extract the drone name from a drone in a nested S… #21768

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Updates GZBridge to extract the drone name from a drone in a nested S… #21768

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25 changes: 21 additions & 4 deletions src/modules/simulation/gz_bridge/GZBridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,9 @@ GZBridge::~GZBridge()

int GZBridge::init()
{
if (!_model_sim.empty()) {
std::string model_name_no_nesting = model_name_trim_nesting();

if (!_model_sim.empty()) {
// service call to create model
gz::msgs::EntityFactory req{};
req.set_sdf_filename(_model_sim + "/model.sdf");
Expand Down Expand Up @@ -181,12 +182,12 @@ int GZBridge::init()
return PX4_ERROR;
}

if (!_mixing_interface_esc.init(_model_name)) {
if (!_mixing_interface_esc.init(model_name_no_nesting)) {
PX4_ERR("failed to init ESC output");
return PX4_ERROR;
}

if (!_mixing_interface_servo.init(_model_name)) {
if (!_mixing_interface_servo.init(model_name_no_nesting)) {
PX4_ERR("failed to init servo output");
return PX4_ERROR;
}
Expand Down Expand Up @@ -471,8 +472,10 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose)

pthread_mutex_lock(&_node_mutex);

std::string model_name_no_nesting = model_name_trim_nesting();

for (int p = 0; p < pose.pose_size(); p++) {
if (pose.pose(p).name() == _model_name) {
if (pose.pose(p).name() == model_name_no_nesting) {

const uint64_t time_us = (pose.header().stamp().sec() * 1000000) + (pose.header().stamp().nsec() / 1000);

Expand Down Expand Up @@ -751,6 +754,20 @@ int GZBridge::print_usage(const char *reason)
return 0;
}

std::string GZBridge::model_name_trim_nesting()
{
int ind_slash = _model_name.find_last_of("/");
std::string model_name_no_nesting = "";

if(ind_slash >= 0){
model_name_no_nesting = _model_name.substr(ind_slash+1, _model_name.length());
}else{
model_name_no_nesting = _model_name;
}

return model_name_no_nesting;
}

extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[])
{
return GZBridge::main(argc, argv);
Expand Down
2 changes: 2 additions & 0 deletions src/modules/simulation/gz_bridge/GZBridge.hpp
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Expand Up @@ -103,6 +103,8 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
void poseInfoCallback(const gz::msgs::Pose_V &pose);
void odometryCallback(const gz::msgs::OdometryWithCovariance &odometry);

std::string model_name_trim_nesting();

/**
*
* Convert a quaterion from FLU_to_ENU frames (ROS convention)
Expand Down