Copter: Add iris with lidar in maze world

[pedro-fuoco]

Here are my tests:

To launch it:

ros2 launch ardupilot_gz_bringup iris_maze.launch.py

Should this command be put in the README as well?

[pedro-fuoco]

There was a little bug regarding the lidar joint and the walls were a bit short. Just submitted a fixup @srmainwaring.

[srmainwaring]

Looks good @pedro-fuoco! A couple of formatting fixes and a missing hook and rviz config file to add.

• Model launches correctly in gz sim on macOS with the hook update.
• ROS 2 laser scan data visible on /laser/scan.
• Will check rviz and a simple mission once the config is available.

Update: posted suggested edits here: https://github.com/pedro-fuoco/ardupilot_gz/pull/1

[srmainwaring]

Should this command be put in the README as well?

Perhaps add another section to the README for more advanced variants?

[pedro-fuoco]

Thanks a lot for the feedback @srmainwaring, fixed the issues you mentioned and merged your PR

[Ryanf55]

Can you add in some formatting like Ardupilot does for XML and run the hooks on your files before merge? https://github.com/ArduPilot/ardupilot/blob/master/.pre-commit-config.yaml#L36-L45

https://pre-commit.com/

[srmainwaring]

@pedro-fuoco - thanks for the updates.

I've a few more suggestions here: https://github.com/pedro-fuoco/ardupilot_gz/pull/2

• Include the gazebo-iris params to fix a missing FRAME_CLASS warning
• Publish odometry and integrate into rviz.

With these changes it's looking pretty complete!

[pedro-fuoco]

@srmainwaring thank you for the PR! I'm always learning a lot with the reviews and additions you make. Everything is was commited and rebased, I think we are good to merge it now :)

[srmainwaring]

@pedro-fuoco - almost there. Please squash / edit the commits to remove the [skip ci] (I should have edited them in my earlier PR). Tested the merged version and running well.

[pedro-fuoco]

@srmainwaring squashed everything and added you as co-author!