Ft: Gazebo lidar template for ROS2

config/spawner_params.yaml

@@ -15,3 +15,7 @@ mrs_drone_spawner:
     firmware_launch_delay: 10.0 # [s] after spawn, wait before launching px4 firmware
 
     extra_resource_paths: []
+
+    tf_static_publisher:
+      base_link: "fcu"
+      ignored_sensor_links: ["air_pressure_sensor", "magnetometer_sensor", "navsat_sensor", "imu_sensor", "lidar"] #lidar is reserved for PX4 Garmin

config/uav_ros_gz_bridge_config.yaml.jinja

@@ -0,0 +1,23 @@
+{%- for topic in camera_info_topic_list -%}
+- ros_topic_name: "{{ topic }}"
+  gz_topic_name: "{{ topic }}"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+{%- endfor -%}
+
+{%- for topic in twoD_lidar_topic_list -%}
+- ros_topic_name: "{{ topic }}"
+  gz_topic_name: "{{ topic }}"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+{%- endfor -%}
+
+{%- for topic in threeD_lidar_topic_list -%}
+- ros_topic_name: "{{ topic }}/points"
+  gz_topic_name: "{{ topic }}/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS
+{%- endfor -%}

launch/mrs_drone_spawner.launch.py

@@ -69,4 +69,4 @@ def generate_launch_description():
                 )
             )
 
-    return ld
+    return ld

launch/simulation.launch.py

@@ -147,4 +147,4 @@ def generate_launch_description():
             bridge,
             drone_spawner,
         ]
-    )
+    )

launch/uav_ros_gz_bridge.launch.py

@@ -97,5 +97,5 @@ def generate_launch_description():
         declare_ros_gz_bridge_config_arg,
         declare_ros_gz_image_topics_arg,
         declare_bridge_debug_arg,
-        namespace_group,
+        namespace_group
     ])