add gazebo_hil_interface #131
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Superseded. |
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@LorenzMeier actually this can be presented as an alternative, not a replacement. |
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If you don't mind I will reopen this when I actually make it work. |
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This adds an interface between PX4 HIL and Gazebo using MAVROS
hilplugin. It's an adaptation of therotors_hil_interface(so I kept the original author and license) and simplifies and condenses the potential of ethz-asl/rotors_simulator#438 (usesmessage_filtersIOT to sync the received msgs and forward them through the MAVROS msg API and hil plugin).It's added as optional, since it requires installing ROS and MAVROS and adds the dependency on some msg API's. Needs some more testing but would be good if someone could take a look at its structure, syntax and logic also.