Gazebo Simulation Enablement

[bperseghetti]

Describe problem solved by this pull request

Allow multiple ways to connect and launch a px4 instance with gazebo simulator.

Describe your solution

Update to use accepted PR in Gazebo.

Test

You can run:

make px4_sitl gz_x500

Preferred:

make px4_sitl

Followed by an example setting the verbosity to 4, type, model to be spawned, and binary:

PX4_GZ_VERBOSE=4 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL=x500-Depth ./build/px4_sitl_default/bin/px4

If you spawn inside of gazebo after another PX4 model is already spawned you can connect to it using the new spawned model name by:

PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_NAME=<model_name_in_Gazebo> ./build/px4_sitl_default/bin/px4 -i 1

After that you can spawn another model from the px4 binary with pose set allowing full xyzrpy or any subset of it for instance with:

PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="2, 2" PX4_GZ_MODEL=x500 ./build/px4_sitl_default/bin/px4 -i 2

[junwoo091400]

Thanks for introducing this during the call today!

[bperseghetti]

I think this is fully ready for review now and I recommend people trying it out. I will post a video for those that might not want to test it otherwise.

[bperseghetti]

cut.webm