[Zephyr] add zephyr plane model and demo world (#1)

Add an ArduPilot enabled Zephyr delta wing adpated from the
model provided by OpenRobotics.

The model is configured to work with ignition-gazebo. Changes include:

- Rename the model to avoid conflict
- Update the location of the wing mesh texture in the collada file
- Disable the GPS sensor
- Use the ignition-gazebo version of the lift-drag plugin
- Provide a new runway / ground plane model for demonstration
  (contains assets from ambientCG.com, licensed under CC0 1.0 Universal:
  textures https://ambientcg.com/view?id=Grass004)
- Update the iris_arducopter_runway world to use the new model
- Clean up CMakeLists.txt to use ignition conventions
- Only require ignition-gazebo package as other dependencies
  are pulled in recursively.
- This version of the mode will fly with ArduPilot plane4.1
- Add imu link and set pose: <pose>0 0 0 3.141593 0 -1.5707963</pose>.
  This is to adjust for the Zephyr model having a non-standard orientation (x : -R, y : -F, z : -D)
- Add joint-force system plugins
- Add ArduPilot plugin and configure:
- Gazebo body frame to ArudPilot FRD has an extra rotation about z
  to correct for the non-standard wing orientation.
- Gazebo world to NED is the usual rotation
- The elevon mappings are different from the model in SwiftGust's repo.
  The elevon channels are swapped and no servo reverse is required.
- Upstream: gazebo-zephyr.parm needs to have
  SERVO1_REVERSED = 0
  SERVO2_REVERSED = 0
- Orient the model for vertical takeoff
- Update the default transform for rotating from the Gazebo world frame to NED.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

CMakeLists.txt

@@ -1,205 +1,110 @@
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
-
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+#============================================================================
+# Initialize the project
+#============================================================================
 project(ardupilot_sitl_gazebo)
 
+#------------------------------------------------------------------------
+# Compile as C++14
 
-#######################
-## Find Dependencies ##
-#######################
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+#============================================================================
+# Find ignition-cmake
+#============================================================================
 find_package(ignition-cmake2 2.8.0 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 
-ign_find_package(sdformat11 REQUIRED VERSION 11.2.1)
-set(SDF_VER ${sdformat11_VERSION_MAJOR})
-
-ign_find_package(ignition-plugin1 REQUIRED)
-set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
-
-ign_find_package(ignition-msgs7 REQUIRED VERSION 7.1)
-set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
-
-ign_find_package(ignition-common4 REQUIRED COMPONENTS all)
-set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
-
-ign_find_package(ignition-physics4 REQUIRED)
-set(IGN_PHYSICS_VER ${ignition-physics4_VERSION_MAJOR})
+#============================================================================
+# Search for project-specific dependencies
+#============================================================================
 
-ign_find_package(ignition-sensors5 REQUIRED)
-set(IGN_SENSORS_VER ${ignition-sensors5_VERSION_MAJOR})
+# ign_find_package(sdformat11 REQUIRED VERSION 11.2.2)
+# set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
-ign_find_package(ignition-math6 REQUIRED VERSION 6.8)
-set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
+#--------------------------------------
+# Find ignition-common
+# ign_find_package(ignition-common4 REQUIRED COMPONENTS all)
+# set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
 
+#--------------------------------------
+# Find ignition-gazebo
 ign_find_package(ignition-gazebo5 REQUIRED)
 set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
 
-# RapidJSON is a header only library
+#--------------------------------------
+# Find ignition-math
+# ign_find_package(ignition-math6 REQUIRED VERSION 6.8)
+# set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
+
+#--------------------------------------
+# Find ignition-msgs
+# ign_find_package(ignition-msgs7 REQUIRED VERSION 7.1)
+# set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
+
+#--------------------------------------
+# Find ignition-physics
+# ign_find_package(ignition-physics4 REQUIRED)
+# set(IGN_PHYSICS_VER ${ignition-physics4_VERSION_MAJOR})
+
+#--------------------------------------
+# Find ignition-plugin
+# ign_find_package(ignition-plugin1 REQUIRED)
+# set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+
+#--------------------------------------
+# Find ignition-sensors
+# ign_find_package(ignition-sensors5 REQUIRED)
+# set(IGN_SENSORS_VER ${ignition-sensors5_VERSION_MAJOR})
+
+#--------------------------------------
+# Find RapidJSON
 find_package(RapidJSON REQUIRED)
 
-###### COMPILE RULES ######
-include(CheckCXXCompilerFlag)
-
-macro(filter_valid_compiler_flags)
-  foreach(flag ${ARGN})
-    CHECK_CXX_COMPILER_FLAG(${flag} R${flag})
-    if(${R${flag}})
-      set(VALID_CXX_FLAGS "${VALID_CXX_FLAGS} ${flag}")
-    endif()
-  endforeach()
-endmacro()
-
-set(CMAKE_CXX_EXTENSIONS off)  # see gazebo CMakeList
-
-if (NOT CMAKE_BUILD_TYPE)
-  set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING
-      "Choose the type of build, options are: Debug Release RelWithDebInfo Profile Check" FORCE)
-endif (NOT CMAKE_BUILD_TYPE)
-
-# Build type link flags
-set (CMAKE_LINK_FLAGS_RELEASE " " CACHE INTERNAL "Link flags for release" FORCE)
-set (CMAKE_LINK_FLAGS_RELWITHDEBINFO " " CACHE INTERNAL "Link flags for release with debug support" FORCE)
-set (CMAKE_LINK_FLAGS_DEBUG " " CACHE INTERNAL "Link flags for debug" FORCE)
-set (CMAKE_LINK_FLAGS_PROFILE " -pg" CACHE INTERNAL "Link flags for profile" FORCE)
-set (CMAKE_LINK_FLAGS_COVERAGE " --coverage" CACHE INTERNAL "Link flags for static code coverage" FORCE)
-
-set (CMAKE_C_FLAGS_RELEASE "")
-if (NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" AND NOT MSVC)
-  # -s doesn't work with clang or Visual Studio, see alternative in link below:
-  # http://stackoverflow.com/questions/6085491/gcc-vs-clang-symbol-strippingu
-  set (CMAKE_C_FLAGS_RELEASE "-s")
-endif()
-
-if (NOT MSVC)
-  set (CMAKE_C_FLAGS_RELEASE " ${CMAKE_C_FLAGS_RELEASE} -O3 -DNDEBUG ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release" FORCE)
-  set (CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE})
-
-  set (CMAKE_C_FLAGS_RELWITHDEBINFO " -g -O2 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release with debug support" FORCE)
-  set (CMAKE_CXX_FLAGS_RELWITHDEBINFO ${CMAKE_C_FLAGS_RELWITHDEBINFO})
-
-  set (CMAKE_C_FLAGS_DEBUG " -ggdb3 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for debug" FORCE)
-  set (CMAKE_CXX_FLAGS_DEBUG ${CMAKE_C_FLAGS_DEBUG})
-
-  set (CMAKE_C_FLAGS_PROFILE " -fno-omit-frame-pointer -g -pg ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for profile" FORCE)
-  set (CMAKE_CXX_FLAGS_PROFILE ${CMAKE_C_FLAGS_PROFILE})
-
-  set (CMAKE_C_FLAGS_COVERAGE " -g -O0 -Wformat=2 --coverage -fno-inline ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for static code coverage" FORCE)
-  set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_C_FLAGS_COVERAGE}")
-  if (NOT "${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    # -fno-default-inline -fno-implicit-inline-templates are unimplemented, cause errors in clang
-    # -fno-elide-constructors can cause seg-faults in clang 3.4 and earlier
-    # http://llvm.org/bugs/show_bug.cgi?id=12208
-    set (CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_COVERAGE} -fno-default-inline -fno-implicit-inline-templates -fno-elide-constructors")
-  endif()
-endif()
-
-#####################################
-# Set all the global build flags
-set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-
-# Compiler-specific C++11 activation.
-if ("${CMAKE_CXX_COMPILER_ID}" MATCHES "GNU")
-  execute_process(
-      COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION)
-  if (NOT (GCC_VERSION VERSION_GREATER 4.7))
-    message(FATAL_ERROR "${PROJECT_NAME} requires g++ 4.8 or greater.")
-  endif ()
-elseif ("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
-  execute_process(
-      COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
-  if (NOT (CLANG_VERSION VERSION_GREATER 3.2))
-    message(FATAL_ERROR "${PROJECT_NAME} requires clang 3.3 or greater.")
-  endif ()
-
-  if ("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
-  endif ()
-elseif ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
-  if (MSVC_VERSION LESS 1800)
-    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2013 or greater.")
-  endif ()
-else ()
-  message(FATAL_ERROR "Your C++ compiler does not support C++11.")
-endif ()
-
-set(WARN_LEVEL "-Wall")
-filter_valid_compiler_flags(${WARN_LEVEL}
-    -Wextra -Wno-long-long -Wno-unused-value -Wfloat-equal -Wshadow
-    -Wswitch-default -Wmissing-include-dirs -pedantic)
-if (UNIX AND NOT APPLE)
-  filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
-endif()
-
-set(UNFILTERED_FLAGS "-std=c++14")
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${VALID_CXX_FLAGS} ${UNFILTERED_FLAGS}")
-
-###########
-## Build ##
-###########
-
-include_directories(
-    ${PROJECT_SOURCE_DIR}
-    include
-	${SDFORMAT-INCLUDE_DIRS}
-    ${IGNITION-COMMON_INCLUDE_DIRS}
-	${IGNITION-GAZEBO_INCLUDE_DIRS}
-	${IGNITION-MATH_INCLUDE_DIRS}
-	${IGNITION-MSGS_INCLUDE_DIRS}
-	${IGNITION-PHYSICS_INCLUDE_DIRS}
-	${IGNITION-SENSORS_INCLUDE_DIRS}
-	${IGNITION-TRANSPORT_INCLUDE_DIRS}
-    ${RAPIDJSON_INCLUDE_DIRS}
-)
-
-link_libraries(
-	${SDFORMAT-LIBRARIES}
-    ${IGNITION-COMMON_LIBRARIES}
-	${IGNITION-GAZEBO_LIBRARIES}
-	${IGNITION-MATH_LIBRARIES}
-	${IGNITION-MSGS_LIBRARIES}
-	${IGNITION-PHYSICS_LIBRARIES}
-	${IGNITION-SENSORS_LIBRARIES}
-	${IGNITION-TRANSPORT_LIBRARIES}
-)
-
-set (plugins_single_header
-    ArduPilotPlugin
-    ArduCopterIRLockPlugin
-    GimbalSmall2dPlugin
-)
-
-# add_library(ArduCopterIRLockPlugin SHARED src/ArduCopterIRLockPlugin.cc)
-# target_link_libraries(ArduCopterIRLockPlugin)
+#======================================
+# Find Qt
+# find_package(Qt5 REQUIRED COMPONENTS
+#     Core
+#     Gui
+#     Qml
+#     Quick
+#     QuickControls2
+#     Widgets
+# )
 
 add_library(ArduPilotPlugin
     SHARED
     src/ArduPilotPlugin.cc
     src/Socket.cpp
 )
-target_link_libraries(ArduPilotPlugin)
-
-# if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
-#     add_library(GimbalSmall2dPlugin SHARED src/GimbalSmall2dPlugin.cc)
-#     target_link_libraries(GimbalSmall2dPlugin ${GAZEBO_LIBRARIES})
-#     install(TARGETS GimbalSmall2dPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
-# endif()
-
-# install(TARGETS ArduCopterIRLockPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
-# install(TARGETS ArduPilotPlugin DESTINATION ${GAZEBO_PLUGIN_PATH})
-
-# install(DIRECTORY models DESTINATION ${GAZEBO_MODEL_PATH}/..)
-# install(DIRECTORY worlds DESTINATION ${GAZEBO_MODEL_PATH}/..)
-
-# uninstall target
-# if(NOT TARGET uninstall)
-#   configure_file(
-#     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
-#     "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-#     IMMEDIATE @ONLY)
-
-#   add_custom_target(uninstall
-#     COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
-# endif()
+
+target_include_directories(ArduPilotPlugin PUBLIC
+  # ${PROJECT_SOURCE_DIR}
+  include
+# 	${SDFORMAT-INCLUDE_DIRS}
+#   ${IGNITION-COMMON_INCLUDE_DIRS}
+	${IGNITION-GAZEBO_INCLUDE_DIRS}
+# 	${IGNITION-MATH_INCLUDE_DIRS}
+# 	${IGNITION-MSGS_INCLUDE_DIRS}
+# 	${IGNITION-PHYSICS_INCLUDE_DIRS}
+# 	${IGNITION-SENSORS_INCLUDE_DIRS}
+# 	${IGNITION-TRANSPORT_INCLUDE_DIRS}
+#   ${RAPIDJSON_INCLUDE_DIRS}
+)
+
+target_link_libraries(ArduPilotPlugin PUBLIC
+  # ${SDFORMAT-LIBRARIES}
+  # ${IGNITION-COMMON_LIBRARIES}
+  ${IGNITION-GAZEBO_LIBRARIES}
+  # ${IGNITION-MATH_LIBRARIES}
+  # ${IGNITION-MSGS_LIBRARIES}
+  # ${IGNITION-PHYSICS_LIBRARIES}
+  # ${IGNITION-SENSORS_LIBRARIES}
+  # ${IGNITION-TRANSPORT_LIBRARIES}
+  # Qt5::Core
+  # Qt5::Gui
+  # Qt5::Qml
+  # Qt5::Quick
+)