Description:
Enables simulated Garmin rangefinder to be connected directly to PX4 (like real HW). Garmin now only publishes to Gazebo topics, which are subscribed by gazebo_mavlink_interface and turned into mavlink messages. ROS topic is created by Mavros (e.g. ~/mavros/distance_sensor/garmin).
Changes:
fix topic assignment in gazebo_lidar_plugin so that gazebo_mavlink_interface subscribes correctly
add tf_gazebo_static publisher to the lidar plugin
Checklist before merge:
[x] corresponding changes in mrs_uav_gazebo_simulation (updated sdf files and drone spawner)
[ ] corresponding changes in mrs_uav_px4_api (updated mavros launchfile)
Description: Enables simulated Garmin rangefinder to be connected directly to PX4 (like real HW). Garmin now only publishes to Gazebo topics, which are subscribed by
gazebo_mavlink_interfaceand turned into mavlink messages. ROS topic is created by Mavros (e.g.~/mavros/distance_sensor/garmin).Changes:
gazebo_lidar_pluginso thatgazebo_mavlink_interfacesubscribes correctlytf_gazebo_staticpublisher to the lidar pluginChecklist before merge:
mrs_uav_gazebo_simulation(updated sdf files and drone spawner)mrs_uav_px4_api(updated mavros launchfile)