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Adding gimbal Gazebo description #3496

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Dec 19, 2024
Merged

Adding gimbal Gazebo description #3496

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338f4cf
Adding gimbal description
perrrre Dec 12, 2024
0976c07
Updated with correct rotation
perrrre Dec 16, 2024
ca2f194
Add commit in release note
perrrre Dec 16, 2024
913064d
Prettier and shrink images
hamishwillee Dec 17, 2024
2f4ef28
Add gimbal testing info
perrrre Dec 18, 2024
98ec196
Merge branch 'main' into pernilla/add-gz-gimbal-docs
hamishwillee Dec 19, 2024
7b36734
Subedit
hamishwillee Dec 19, 2024
e98869d
Remove moved image
hamishwillee Dec 19, 2024
b797321
Minor typos
hamishwillee Dec 19, 2024
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3 changes: 2 additions & 1 deletion en/releases/main.md
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Expand Up @@ -37,7 +37,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- [Log Encryption](../dev_log/log_encryption.md) now generates an encrypted log that contains the public-key-encrypted symmetric key that can be used to decrypt it, instead of putting the key into a separate file.
This makes log decryption much easier, as there is no need to download or identify a separate key file.
([PX4-Autopilot#24024](https://github.com/PX4/PX4-Autopilot/pull/24024)).

### Control

- TBD
Expand All @@ -64,6 +64,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- New vehicle model `x500_lidar_down` — [X500 Quadrotor with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing). ([PX4-Autopilot#23879](https://github.com/PX4/PX4-Autopilot/pull/23879), [PX4-gazebo-models#62](https://github.com/PX4/PX4-gazebo-models/pull/62/files)).
- New vehicle model `r1_rover` — [Aion Robotics R1 Rover](../sim_gazebo_gz/vehicles.md#differential-rover) ([PX4-Autopilot#22402](https://github.com/PX4/PX4-Autopilot/pull/22402) and [PX4-gazebo-models#21](https://github.com/PX4/PX4-gazebo-models/pull/21)).
- New vehicle model `rover_ackermann` — [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) ([PX4-Autopilot#23383](https://github.com/PX4/PX4-Autopilot/pull/23383) and [PX4-gazebo-models#46](https://github.com/PX4/PX4-gazebo-models/pull/46)).
- New vehicle model `x500_gimbal` — [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) ([PX4-Autopilot#23382](https://github.com/PX4/PX4-Autopilot/pull/23382) and [PX4-gazebo-models#47](https://github.com/PX4/PX4-gazebo-models/pull/47) and [PX4-gazebo-models#70](https://github.com/PX4/PX4-gazebo-models/pull/70)).

### Ethernet

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1 change: 1 addition & 0 deletions en/sim_gazebo_gz/index.md
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Expand Up @@ -56,6 +56,7 @@ Note that all gazebo make targets have the prefix `gz_`.
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
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16 changes: 16 additions & 0 deletions en/sim_gazebo_gz/vehicles.md
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Expand Up @@ -104,6 +104,22 @@ make px4_sitl gz_x500_lidar_2d
The sensor information is written to the [ObstacleDistance](../msg_docs/ObstacleDistance.md) UORB message used by collision prevention.
:::

### X500 Quadrotor with Gimbal (Front-facing)
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@Perrrewi This all looks great - but we need a little detail on what/how you test with it.

  1. I assume this simulates a MAVLink gimbal? What device id/component ID does the gimbal have? We should state this.
  2. Can we link from https://docs.px4.io/main/en/advanced/gimbal_control.html#sitl so that people working on gimbals can find this
  3. Also update the testing section below it: https://docs.px4.io/main/en/advanced/gimbal_control.html#testing
    Might be worth having separate sections for Gazebo and Gazebo Classic there so that we can easily delete the classic version when this goes EOL (depends on how it looks when tried).
  4. Further, in the testing section, is there anything else we can do? I.e. If I define a mission with ROIs will the gimbal be used for them? In QGC is there a model where I can see the gimbal in operation - i.e. streamed video, and move the gimbal? Such as you might do in Auterion's AMC?
  5. Perhaps note here that you need to configure PX4 as per (find link in (presumably)?

In other words, stuff to make this findable and usable if people arrive at this topic, or at the gimbal topic.

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PS I presume that this can't merge until all the PRs in the description are merged.


This model have a gimbal attached to the front with angular ranges of

- roll: [- $\frac{\pi}{4}$, $\frac{\pi}{4}$]
- pitch: [- $frac{3\pi}{4}$, $\frac{\pi}{4}$]
- yaw: infinite rotation

The gimbal joints uses position control with a kinematic chain ZXY.

![[Quadrotor(x500) with gimbal (Front-facing) in Gazebo]](../../assets/simulation/gazebo/vehicles/x500_gimbal.png).

```sh
make px4_sitl gz_x500_gimbal
```

## Plane/Fixed-wing

### Standard Plane
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