How to turn on RTK in Gazebo simulation?

[maxhofidrone]

Hi,
I want to turn on the RTK within the gazebo simulation. with the pre-1.5 version I always exported the tag export ODOMETRY_TYPE="rtk". As I understand the config-file handling in the version 1.5 this should not be necessary anymore right?
When starting following session.yaml in the mrs_multirotor_simulator configuration (commented out currently), everything works as expected. In the Gazebo configuration core is throwing errors for missing RTK messages. Can you please give me any hints for turning on RTK messages in Gazebo?

# do not modify these
root: ./
name: simulation
socket_name: mrs
attach: false
tmux_options: -f /etc/ctu-mrs/tmux.conf
# you can modify these
pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
startup_window: status
windows:
  - roscore:
      layout: tiled
      panes:
        - roscore
#  - simulator:
#      layout: tiled
#      panes:
#        - waitForRos; roslaunch mrs_multirotor_simulator multirotor_simulator.launch custom_config:=./config/simulator.yaml
  - gazebo:
      layout: tiled
      panes:
        - waitForRos; roslaunch mrs_uav_gazebo_simulation simulation.launch world_name:=grass_plane gui:=true
        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE --enable-rangefinder"
        - waitForControl; gz camera -c gzclient_camera -f $UAV_NAME; history -s gz camera -c gzclient_camera -f $UAV_NAME
  - status:
      layout: tiled
      panes:
        - waitForHw; roslaunch mrs_uav_status status.launch 
  - hw_api:
      layout: tiled
      panes:
        - waitForTime; roslaunch mrs_uav_px4_api api.launch
#  - hw_api:
#      layout: tiled
#      panes:
#        - waitForTime; roslaunch mrs_multirotor_simulator hw_api.launch custom_config:=./config/hw_api.yaml
  - core:
      layout: tiled
      panes:
        - waitForHw; roslaunch mrs_uav_core core.launch
          platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml
          custom_config:=./config/custom_config.yaml
          world_config:=./config/world_config.yaml
          network_config:=./config/network_config.yaml
  - takeoff:
      layout: tiled
      panes:
        - waitForHw; roslaunch mrs_uav_autostart automatic_start.launch
        - 'waitForControl; rosservice call /$UAV_NAME/hw_api/arming 1; sleep 2; rosservice call /$UAV_NAME/hw_api/offboard'
  - goto:
      layout: tiled
      panes:
        - 'history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[0.0, 10.0, 1.5, 0.0\]\"'
  - emulation:
      layout: tiled
      panes:
        - waitForControl; roslaunch emulated_sensors emulation.launch
  - rviz:
      layout: tiled
      panes:
        - waitForControl; roslaunch mrs_uav_core rviz.launch
        - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
        - waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch
  - layout:
      layout: tiled
      panes:
        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json

my custom_config.yaml:

mrs_uav_managers:

  estimation_manager:

    # loaded state estimator plugins
    state_estimators: [
      "rtk",
    ]

    initial_state_estimator: "rtk" # will be used as the first state estimator
    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)

  uav_manager:
    # periodically checks if max height was exceeded
    # if so, retakes control and descends below it
    max_height_checking:

      enabled: false
      rate: 10.0 # [Hz]
      safety_height_offset: 0.25 # how much lower to descend below the max height

    # periodically checks if min height was exceeded
    # if so, retakes control and ascends above it
    min_height_checking:

      enabled: false
      rate: 10.0 # [Hz]
      min_height: 0.5 # [m]
      safety_height_offset: 0.25 # how much higher to ascend above the min height

    takeoff:

      during_takeoff:
        controller: "MpcController"
        tracker: "LandoffTracker"

      after_takeoff:
        controller: "MpcController" # more robust
        # controller: "Se3Controller" # more precise
        tracker: "MpcTracker"

mrs_uav_trajectory_generation:

  # execution time limiter
  max_time: 10 # [s]

  # when true, only the fallback solver will be used by default
  enforce_fallback_solver: false

  # check and fix the max deviation between the input path and the output trajectory
  # by subsampling the original path with more waypoints
  check_trajectory_deviation:
    enabled: true
    max_deviation: 1.0 # [m]
    max_iterations: 3 # [-]

[klaxalk]

Hey Max, you have it almost right. The only thing I can see now is that you have to spawn the UAV with the --enable-ground-truth "sensor". So

1 --$UAV_TYPE --enable-rangefinder --enable-ground-truth

Sincerely, Tomas

[maxhofidrone]

Thank you a lot! It worked