Enable inherited model topic name.

[bperseghetti]

🦟 Bug fix

Fixes #1688

Summary

Allows for inheriting model name for robotNamespace when SDF element is not set and provides a debug message showing the topics it subscribes to.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[jgoppert]

It would be great to see this merged. It will streamline our workflow with the PX4 autopilot.

[bperseghetti]

Example of the updated MulticopterMotorModel in use:

[bperseghetti]

More examples of it using the resource spawner when multiple vehicles are in use and the name dynamically changes:

[bperseghetti]

@chapulina @nkoenig @mjcarroll If this PR was to get approved what might be the earliest timeline to seeing it in a fortress update/release?

We are hoping to use this in several student competitions in less than a month. The only way we can migrate away from classic gazebo for multi-vehicle workflow (generation through both resource spawner and autopilot generation) requires this very minor change (I can not think of a way where it would interfere with any existing usage of the plugin).

If you would like to try playing with it and the PX4 Autopilot:

1. Clone PX4:
   git clone -b pr-gazebo-motor-update [email protected]:PX4/PX4-Autopilot.git --recursive

2. Install PX4 build toolchain (assuming on 22.04):

cd PX4-Autopilot/Tools/setup
./ubuntu.sh

3. Build and start simulation from PX4 binary:

#Depending on your gazebo build may require: export IGN_CONFIG_PATH=/usr/local/share/ignition/
cd <your path>/PX4-Autopilot
make px4_sitl_ign
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL=x500-Depth ./build/px4_sitl_ign/bin/px4
commander arm -f #spins motors after system says ready for takeoff

4. In another terminal start a new PX4 instance using same model to spawn but different pose offset in x:

#Depending on your gazebo build may require: export IGN_CONFIG_PATH=/usr/share/ignition/
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="2" PX4_GZ_MODEL=x500-Depth ./build/px4_sitl_ign/bin/px4 -i 1
commander arm -f #spins motors after system says ready for takeoff

5. Open resource spawner in gazebo gui, click and drag the x500-Depth to where you want it. In another new terminal connect PX4 to the dynamically spawned model by passing it's entity name in simulation to PX4_GZ_MODEL_NAME (assuming it should just be x500-Depth if following this guide):

#Depending on your gazebo build may require: export IGN_CONFIG_PATH=/usr/share/ignition/
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_NAME=x500-Depth ./build/px4_sitl_ign/bin/px4 -i 2
commander arm -f #spins motors after system says ready for takeoff

6. In another terminal start a new PX4 instance using model x500 to spawn but full pose and yawed 90 degrees:

#Depending on your gazebo build may require: export IGN_CONFIG_PATH=/usr/share/ignition/
PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="2,2,0,0,0,1.57" PX4_GZ_MODEL=x500 ./build/px4_sitl_ign/bin/px4 -i 3
commander arm -f #spins motors after system says ready for takeoff

All of these used the same base model (x500-Base) that included the updated MulticopterMotorModel with robotNamespace removed: https://app.gazebosim.org/RudisLaboratories/fuel/models/x500-Base

This allows for light and unique model generation to rapidly test different sensors for CI and general simulation purposes as seen in the other "include style" models:

<include merge='true'>
  <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
</include>

• x500-Depth include base style model
• x500 include base style model

[mjcarroll]

If this PR was to get approved what might be the earliest timeline to seeing it in a fortress update/release?

Basically as soon as we can get it merged, I can do a release for you to get it in binaries. I will start reviewing now.

[bperseghetti]

If this PR was to get approved what might be the earliest timeline to seeing it in a fortress update/release?

Basically as soon as we can get it merged, I can do a release for you to get it in binaries. I will start reviewing now.

Awesome, we are really excited to use gazebo, will this change also work it's way into garden?

[mjcarroll]

Awesome, we are really excited to use gazebo, will this change also work it's way into garden?

Garden is currently frozen (apart from critical bug fixes) as we do some QA through the end of the month. After that, features from fortress will be forward ported before the next minor release.

[bperseghetti]

@nkoenig just tested your suggestion, works great. Just resigned it for DCO and pushed.

[bperseghetti]

Rebased on current ign-gazebo6 to hopefully fix the triggeredcamera test issues.

[codecov]

Codecov Report

Merging #1689 (d711e1b) into ign-gazebo6 (69e7757) will increase coverage by 0.03%.
The diff coverage is 82.19%.

@@               Coverage Diff               @@
##           ign-gazebo6    #1689      +/-   ##
===============================================
+ Coverage        64.69%   64.73%   +0.03%     
===============================================
  Files              321      321              
  Lines            26062    26124      +62     
===============================================
+ Hits             16862    16912      +50     
- Misses            9200     9212      +12     

Impacted Files	Coverage Δ
.../systems/triggered_publisher/TriggeredPublisher.hh	100.00% <ø> (ø)
...s/multicopter_motor_model/MulticopterMotorModel.cc	75.72% <33.33%> (-0.22%)	⬇️
.../systems/triggered_publisher/TriggeredPublisher.cc	83.28% <84.28%> (-0.38%)	⬇️

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[bperseghetti]

@mjcarroll sorry, I did not mean to remove you as a reviewer, I meant to just also add @nkoenig but seemed to remove you when I did.

[bperseghetti]

@nkoenig @mjcarroll is there anything else desired to be changed in this PR?

[bperseghetti]

If this PR was to get approved what might be the earliest timeline to seeing it in a fortress update/release?

Basically as soon as we can get it merged, I can do a release for you to get it in binaries. I will start reviewing now.

@mjcarroll @nkoenig is there a timing on when 6.13 will get released?