@khancyr I’ve been using Gazebo to test the sailing vehicle code developed by @iampete. The current API has been great for the first round of tests and proved invaluable in getting a wing sail land yacht tuned and running.
For next steps I’d like to feed a wider range of sensor data back to SITL from Gazebo. My immediate requirement is for wind sensor data, but GPS, range finders and joint positions (wheel odometry) would be good to have too.
I’ve made a start here:
which gets the vehicle apparent wind data into SITL (I’ve bundled the plugins for the sensor in so the example is self contained).
I think a better approach might be to use the JSON interface developed by Peter to replace the current binary packet. That should simplify the release process as currently the plugin and the ardupilot code need to be released in lockstep which I imagine is tricky.
I’m happy to carry on and put this together but would appreciate input from you and Peter as you authored the Gazebo / JSON components. I’m keen to roll the changes out so that I can share some of the models and simulation examples I’ve been developing for rovers and sailing vehicles.