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Gazebo Sim Plugins

MAVLink plugin for HITL

A Bridge between Gzsim and Px4 in HITL mode via Mavlink

Mavlink subscribed messages (from PX4)

Type Description
HIL_ACTUATOR_CONTROLS Actuator control outputs from PX4

Mavlink published messages (to PX4)

Type Description
HIL_SENSOR The IMU readings in SI units in NED body frame, Magnetic field, absolute and differential pressure
HIL_STATE_QUATERNION Used mainly to send gz model pose info
HIL_GPS The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. Send now mainly to give home GPS coordinate to PX4

Gz subscribed topics (from Gzsim)

Topic name Type Description
/link/base_link/sensor/imu_sensor/imu gz::msgs::IMU IMU sensor data
/pose/info gz::msgs::Pose_V Position and orientation vector of a model

Gzsim plugins affected

Plugin name Description
gz::sim::systems::MulticopterMotorModel This system applies a thrust force to models with spinning propellers

ABC plugin for HITL/SITL

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Gazebosim plugins for mavlink transport

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