Support for gz-fortress (LTS)

[julled]

Feature request

Is your feature request related to a problem? Please describe. So far i am bound to ROS1/Noetic and i want to use gazebo image bridge from https://github.com/gazebosim/ros_gz/tree/noetic. The ROS noetic codebase over there only supports the LTS release so far. This leeds to the problem, that AFAIK no ROS1 codebase + simulated images can be used with ardupilot_gazebo.

Describe the solution you'd like Add support for gz-fortress (LTS).

Describe alternatives you've considered If using ROS2 would be a option, then https://github.com/gazebosim/ros_gz is possible. For ROS1 there is AFAIK no other option avaiable which works with this repo.

Platform [ ] All [ ] AntennaTracker [ ] Copter [x] Plane [ ] Rover [ ] Submarine

Additional context

[julled]

I just realized there is a branch for fortress: https://github.com/ArduPilot/ardupilot_gazebo/tree/fortress

I tried to get the zephyr world running using the SITL start procedure from the main branch, but without success. The plane cant takeoff in a controlled way and is unable to reach circle mode.

Do you have some example startup procedures which work for the old fortress branch?

[srmainwaring]

@julled - a couple of questions:

1. Is the Iris quad-copter model working?

2. Is the zephyr responding to rc commands, for instance:

   # arm
   MANUAL> arm throttle
   # spin prop
   MANUAL> rc 3 1200
   # both elevons up / dn
   MANUAL> rc 2 1100
   MANUAL> rc 2 1900
   # elevons in opposite directions
   MANUAL> rc 1 1100
   MANUAL> rc 1 1900

   If yes to the above, then the lack of controlled flight may be due to the servo parameters being reversed in the plugin compared to the SITL parameters for gazebo-zephyr. Try applying the change in https://github.com/ArduPilot/ardupilot_gazebo/pull/24 which was not back-ported to the fortress branch.

[srmainwaring]

Closing as no recent activity and a fortress branch is available (although not actively updated).

[julled]

@julled - a couple of questions:

1. Is the Iris quad-copter model working?

2. Is the zephyr responding to `rc` commands, for instance:

# arm
MANUAL> arm throttle
# spin prop
MANUAL> rc 3 1200
# both elevons up / dn
MANUAL> rc 2 1100
MANUAL> rc 2 1900
# elevons in opposite directions
MANUAL> rc 1 1100
MANUAL> rc 1 1900

If yes to the above, then the lack of controlled flight may be due to the servo parameters being reversed in the plugin compared to the SITL parameters for gazebo-zephyr. Try applying the change in #24 which was not back-ported to the fortress branch.

I wasnt able to compile , so it was a different problem