Added SITL Gazebo

[ahcorde]

Signed-off-by: Alejandro Hernández Cordero ahcorde@gmail.com

Related with this issue #12345

This PR update the current work done in this PR #11303 by @xuhao1 to include SITL Gazebo support.

Where is the right place to locate the documentation?

[haslinghuis]

It's a hidden here: https://github.com/betaflight/betaflight/tree/master/src/main/target/SITL

But we'd like to include any updated to documentation on the betaflight.com repo (development section).

Also have been using Gazebo before with SITL (around 2019) it looks much better now. Need some time to get it all running on a test machine. Hopefully Ubuntu 22.04 is sufficient as in the past we had to use older versions of Ubuntu to get ROS running.

[blckmn]

AUTOMERGE: (FAIL)

• github identifies PR as mergeable -> FAIL
• assigned to a milestone -> PASS
• cooling off period lapsed -> PASS
• commit count less or equal to three -> FAIL
• Don't merge label NOT found -> PASS
• at least one RN: label found -> PASS
• Tested label found -> FAIL
• assigned to an approver -> FAIL
• approver count at least three -> FAIL

[haslinghuis]

Suggested change

	if (index + pwmRawPkt.motorCount < SIMULATOR_MAX_PWM_CHANNELS)
	{
	if (index + pwmRawPkt.motorCount < SIMULATOR_MAX_PWM_CHANNELS) {

Please check: https://betaflight.com/docs/development/CodingStyle

[haslinghuis]

Install on fresh 22.04.1 following instructions on https://github.com/osrf/vehicle_gateway

For fresh install some required packages are missing in the instructions:

sudo apt install python3-pip
sudo apt install git
sudo apt install python3-vcstool

Now stuck on

Next, build Gazebo Garden from source, using some specific branches in some repositories that are currently required for this project. The precise arrangement of branches is described in the gazebo.repos file which will be used by the command sequence below. The full instructions are [here](https://gazebosim.org/docs/garden/install_ubuntu_src), and summarized as follows:

mkdir -p ~/vg/gz_ws/src
cd ~/vg/gz_ws
vcs import src < ../vg_ws/src/vehicle_gateway/gazebo.repos
sudo apt install -y $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
source /opt/ros/humble/setup.bash
colcon build --merge-install

Now you should have Gazebo available to any terminals that source ~/vg/gz_ws/install/setup.bash

Cloning into '.'...
=== src/gz-sensors (git) ===
Could not checkout ref 'ahcorde/air_speed': fatal: invalid reference: ahcorde/air_speed
=== src/gz-sim (git) ===
Cloning into '.'...
=== src/gz-tools (git) ===
Cloning into '.'...
=== src/gz-transport (git) ===
Cloning into '.'...
=== src/gz-utils (git) ===
Cloning into '.'...
=== src/sdformat (git) ===
Could not checkout ref 'ahcorde/air_speed': fatal: invalid reference: ahcorde/air_speed
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package libogre-next-2.3-dev
E: Couldn't find any package by glob 'libogre-next-2.3-dev'
colcon: command not found

[ahcorde]

@haslinghuis Thank you for the review.

We will create a Gazebo release this week and this will simplify the instructions too. I will ping you again.

[ctzsnooze]

Please provide detailed instructions here in the PR.
They can be updated and clarified as needed.
Then they make a good basis for a wiki entry.

[haslinghuis]

@ahcorde please rebase

[KarateBrot]

I mostly have minor suggestions for clean code formatting.

There is one line in pwmWriteMotor() that needs attention, though (see comment about MAX_SUPPORTED_MOTORS).

[github-actions]

Do you want to test this code? Here you have an automated build:
Assets
WARNING: It may be unstable. Use only for testing! See: https://www.youtube.com/watch?v=I1uN9CN30gw for instructions for unified targets!

[astro75]

Is there any updated documentation on how to run betaflight with Gazebo?

This doc file looks outdated (7 years old) https://github.com/betaflight/betaflight/blob/master/src/main/target/SITL/README.md

Also found this doc page that looks different from the previous one https://betaflight.com/docs/development/sitl . It links to a recent version of Gazebo, but listed start command is for an old version that does not work with a current version gazebo --verbose ./iris_arducopter_demo.world

Which version of Gazebo should work with Betaflight SITL?

[haslinghuis]

If latest Gazebo does not work - we love contribution on updating the docs.

[astro75]

Figured out that I need to use betaflight_gazebo and betaflight_sim from https://github.com/osrf/vehicle_gateway/tree/main

I will try to run it another day.