Custom simulation modes and worlds

Extend the Gazebo-powered simulation with customized vehicles and personalized environments

This feature is available since virtual FMU 1.7.0

Testing new vehicles configurations and simulation environments with various airframes might result in the need to create a custom vehicle to spawn in gazebo (e.g. for a not yet exposed airframe), a new world to run or a new predefined location to use. Therefore, the UI exposed configuration (config_options.json) can be modified on your simulated vehicle via ssh. To do so, make:

ssh [email protected]
mountrw
nano /data/app/com.auterion.virtual-fmu/data/config_options.json

Then change as you desire and run

auterion-cli app restart com.auterion.virtual-fmu

to apply the changes.

Possible changes could e.g. be new/other airframes or gazebo models to use, like:

    "options": [
...
        {
            "sim_mode": "gz",
            "model_name": "Fixed-Wing",
            "config": {
-                "PX4_SIM_MODEL": "gz_rc_cessna",
+                "PX4_SIM_MODEL": "gz_my_rc_cessna",
                "PX4_SYS_AUTOSTART": "4003"
            }
        }
    ],

Or custom presets for start locations like:

    "environments":[
...
        {
            "name": "Baylands",
            "world": "baylands",
            "preset_locations": [
                {
                    "name": "Open field runway",
                    "position": [300, 0, 0.01],
                    "orientation": [0, 0, 0]
                }
+                {
+                    "name": "My new location",
+                    "position": [10, 10, 0.01],
+                    "orientation": [0, 0.1, 0]
+                }
            ]
        },

Please make sure that the custom model and world files are available under ~/.simulation-gazebo/models and ~/.simulation-gazebo/worlds respectively.