Add topic remapper plugin

plugins/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(px4_gz_plugins)
+
+find_package(gz-cmake3 REQUIRED)
+gz_find_package(gz-sim7 REQUIRED)
+
+gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
+
+# Add sources for each plugin to be registered.
+add_library(topic_remap SHARED topicremap_plugin.cc )
+set_property(TARGET topic_remap PROPERTY CXX_STANDARD 17)
+target_link_libraries(topic_remap
+  gz-sim${gz-sim7_VERSION_MAJOR}::gz-sim${gz-sim7_VERSION_MAJOR}
+)

plugins/topicremap_plugin.cc

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+/****************************************************************************
+ *
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Jaeyoung Lim <[email protected]>
+ */
+
+#include "topicremap_plugin.hh"
+
+#include <gz/plugin/Register.hh>
+#include <gz/transport/NodeOptions.hh>
+
+
+GZ_ADD_PLUGIN(
+    px4::sim::TopicRemap,
+    gz::sim::System
+)
+
+GZ_ADD_PLUGIN_ALIAS(px4::sim::TopicRemap, "px4::sim::TopicRemap")
+
+using namespace px4::sim;
+
+TopicRemap::TopicRemap()
+{
+  std::string target_topic = "/bar";
+  _node.Options().TopicRemap("/model/x500_0/servo_0", target_topic);
+}
+
+TopicRemap::~TopicRemap()
+{
+}
+
+void TopicRemap::PostUpdate(const gz::sim::UpdateInfo &_info,
+    const gz::sim::EntityComponentManager &_ecm)
+{
+  gzmsg << "TopicRemap::PostUpdate" << std::endl;
+}

plugins/topicremap_plugin.hh

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+/****************************************************************************
+ *
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *	notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *	notice, this list of conditions and the following disclaimer in
+ *	the documentation and/or other materials provided with the
+ *	distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *	used to endorse or promote products derived from this software
+ *	without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Jaeyoung Lim <[email protected]>
+ */
+
+
+#include <gz/sim/System.hh>
+#include <gz/transport.hh>
+
+namespace px4::sim
+{
+  class TopicRemap:
+    // This class is a system.
+    public gz::sim::System,
+    // This class also implements the ISystemPostUpdate interface.
+    public gz::sim::ISystemPostUpdate
+  {
+    public: TopicRemap();
+
+    public: ~TopicRemap() override;
+
+    public: void PostUpdate(const gz::sim::UpdateInfo &_info,
+                const gz::sim::EntityComponentManager &_ecm) override;
+    private:
+      gz::transport::Node _node;
+  };
+}