Add x500 flow variant (downward facing lidar functional in gz)

[dirksavage88]

See PX4/PX4-gazebo-models#39

[xdwgood]

In order to test'' Range Height Fusion'' in the simulation, I made some additions to your pr, which has supported flight control to obtain the height measured to the ground. It works well, thank you for your work!

I have a question. How does this PR connect with LaserScan in gazebo? Is it through here?

      <sensor name="broadcomafbrs50" type="gpu_ray">
        <pose>0.01 0.07 0.018 -1.57 0 0</pose>
        <ray>
          <scan>
            <horizontal>
              <samples>1</samples>
              <resolution>1</resolution>
              <min_angle>-1.57</min_angle>
              <max_angle>1.57</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.06</min>
            <max>30</max>
            <resolution>0.01</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.02</stddev>
          </noise>
        </ray>
        <always_on>1</always_on>
        <update_rate>50</update_rate>
        <visualize>true</visualize>
      </sensor>

type="gpu_ray" = gz::msgs::LaserScan? Maybe I should learn gazebo and sdf?

[dirksavage88]

That’s correct. It uses the GZ laser scan plugin. You could use the ROS GZ bridge and get the ROS 2 laser scan messages to visualize in rviz if you wanted to, or even pipe the data back into PX4 via uxrce dds, but it looks like you may have made modifications to the gz module in px4 to get it to work.

Multiple ways to do it