Connect actuator control inputs to the fw dynamics plugin

Problem Description This wires the actuator outputs from PX4 to the gazebo_fw_dynamics_plugin. This was the last piece missing in this repo's implementation.

Some points that you need to keep in mind.

The channels of control inputs are had coded in the plugin, as the snippet shows below:

delta_aileron_left_ = -NormalizedInputToAngle(vehicle_params_.aileron_left,
  static_cast<double>(actuators_msg->motor_speed(5)));
delta_aileron_right_ = -NormalizedInputToAngle(vehicle_params_.aileron_right,
  static_cast<double>(actuators_msg->motor_speed(6)));
delta_elevator_ = -NormalizedInputToAngle(vehicle_params_.elevator,
  static_cast<double>(actuators_msg->motor_speed(7)));
delta_flap_ = NormalizedInputToAngle(vehicle_params_.flap,
  static_cast<double>(actuators_msg->motor_speed(3)));
delta_rudder_ = NormalizedInputToAngle(vehicle_params_.rudder,
  static_cast<double>(actuators_msg->motor_speed(2)));

Note that the thrust is kept to zero in the model.

Testing To test the PR, you can the following script

Tools/sitl_run.sh

tecpod_test

Additional Context

@manumerous As we discussed briefly today, this should unblock you completely. Once you are able to come up with a parameterized model embedded in yaml, you will be able to test it in the simulator immediately.

ethz-asl / data-driven-dynamics

Connect actuator control inputs to the fw dynamics plugin #10