fix(simulation): Gazebo Harmonic Name() API + SITL integration (Phases A–C + GUI)#49
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- CMakeLists: replace find_package(gazebo) with gz-sim8/gz-transport13/gz-plugin2 - Headers: inherit gz::sim::System+ISystemConfigure+ISystemPreUpdate/PostUpdate instead of ModelPlugin; drop all <gazebo/...> includes; use gz::sim::Entity members and gz::transport::Node (value, not pointer) - Sources: Configure() replaces Load(); PreUpdate()/PostUpdate() replace WorldUpdateBegin callbacks; joint velocities via JointVelocityCmd component; forces via ExternalWorldWrenchCmd; topic names use /model/<name>/cmd_vel absolute path (no tilde); GZ_ADD_PLUGIN replaces GZ_REGISTER_MODEL_PLUGIN - Fix: remove .value_or() from gz::sim::Model::Name() and World::Name() calls — Harmonic returns std::string directly, not std::optional<std::string> - Dockerfile: convert to two-stage multi-stage build; add X11/Mesa GUI packages (libgl1-mesa-dri, libx11-6, etc.) for display forwarding Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- ros2.Dockerfile: install ros-${ROS_DISTRO}-ros-gz-bridge/sim; fall back
to git-cloning ros_gz from source if apt overlay lacks the packages
- sim.launch.py: add use_external_gz arg with UnlessCondition so the
Compose gazebo service is not double-started inside the ROS 2 container
- compose.yaml: set GZ_IP/GZ_PARTITION env vars on both gazebo and ros2
services (required for gz-transport peer discovery across bridge network);
change ros2 depends_on gazebo to service_healthy; pass use_external_gz:=true
in the launch command; add Gazebo GUI support via DISPLAY passthrough,
/tmp/.X11-unix bind-mount, LIBGL_ALWAYS_SOFTWARE=1 for Mesa llvmpipe
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…un support sim_adapter (Phase C): - New SITL-only cFS app: receives CCSDS SPPs on UDP port 5700, validates APID (0x500–0x57F) and CRC-16/CCITT-FALSE, routes valid packets to the cFE Software Bus via SIM_INJECT_HK_MID - Entire body guarded by #ifndef CFS_FLIGHT_BUILD — zero symbols in flight image - 6 CMocka unit tests (all passing): CRC known vector, short packet, APID out of range, CRC mismatch, valid packet routed, init socket failure - _defs/mids.h: add SIM_ADAPTER_CMD_MID 0x1D00, SIM_ADAPTER_HK_MID 0x0D01 - Priority 95 in cfe_es_startup.scr (between MCU gateways and CDH) Gazebo GUI (make run): - Makefile: run xhost +local:docker before compose up; print display status - compose.yaml gazebo: DISPLAY passthrough + /tmp/.X11-unix bind-mount + LIBGL_ALWAYS_SOFTWARE=1; command detects $$DISPLAY at runtime — full GUI when display available, server-only (-s) when headless Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
cppcheck [variableScope]: move bytes_recv declaration inside the while loop body in SIM_ADAPTER_AppMain — cppcheck --enable=all reports variableScope when a variable is declared at function scope but only used in a sub-block. apid-mid-lint [R1]: add Sim Injection Sub-Allocation section to docs/interfaces/apid-registry.md with an explicit row for APID 0x501 (SIM_ADAPTER_HK_MID). The range row 0x500-0x57F only registers 0x500 in the lint's set; 0x501 needed its own explicit row to satisfy R1. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
gz::sim::Model::Name(ecm)andWorld::Name(ecm)returnstd::stringin Gazebo Harmonic (gz-sim8), notstd::optional<std::string>— removes four invalid.value_or()calls that caused Docker build failuresModelPlugin,physics::ModelPtr,transport::NodePtr) to Harmonic ECM-based API (ISystemConfigure,ISystemPreUpdate/PostUpdate,JointVelocityCmd,ExternalWorldWrenchCmd); convertgazebo.Dockerfileto two-stage multi-stage build with compiled.sofilesros_gz_bridgein the ROS 2 Docker image; adduse_external_gzarg tosim.launch.py; setGZ_IP/GZ_PARTITIONenv vars in Compose for gz-transport cross-container peer discoverysim_adaptercFS app — receives CCSDS SPPs on UDP 5700, validates APID (0x500–0x57F) and CRC-16/CCITT-FALSE, routes to Software Bus; guarded by#ifndef CFS_FLIGHT_BUILD; 6/6 CMocka tests passingmake runopens Gazebo 3D window on a desktop (X11 forwarded via/tmp/.X11-unix; Mesa llvmpipe software renderer — no GPU required); falls back to headless when$DISPLAYis unsetTest plan
ctest --test-dir build --output-on-failure— all 14 unit tests pass (includes 6 new sim_adapter tests)cmake -B build_flight -DCFS_FLIGHT_BUILD=1 && cmake --build build_flight && nm build_flight/apps/sim_adapter/CMakeFiles/sim_adapter.dir/fsw/src/sim_adapter.c.o | grep SIM_ADAPTER || echo "GUARD OK"— no sim_adapter symbols in flight builddocker compose build gazebo— Dockerfile compiles all 4 plugins without errormake runon a Linux desktop with$DISPLAYset — Gazebo window opens;make runon headless CI — no error, Gazebo runs server-onlydocker exec sakura_ros2 ros2 node list—/gz_bridgepresent after stack starts🤖 Generated with Claude Code