Using gazebo_gps_plugin

PX4 Autopilot
1

Hi,

I’m trying to modify the gazebo_gps_plugin.cpp as suggested in SITL GPS spoofing - hil/gps topic doesn't work? in order to create gps spoofing. But I can’t understand how to I make my installed px4 use those plugins.

Currently I’m running in one terminal the command “./QGroundControl.AppImage” and in a different terminal “make px4_sitl gazebo” but it seems like the changes I make in the plugin do not affect at all.

This is the first time I try to use px4 and gazebo, can someone refer me to a tutorial that explains how to properly integrate the plugins?

Also, on a different note, is there a way to get logs from the gazebo ? In order to check the spoofing I’ll want to compare the track of the px4 in 2 flights , one with spoofing and one without and I’m not sure if the logs received from QGroundControl will help in that case.

2

Is your end goal to set the GPS location in the gazebo world?

3

My end goal is to modify the gps info arriving from the QgroundControl, so there will be a difference between the gps calculated in the control computer and the actual gps in the gazebo world.

4

My understanding is that gps info goes from the gazebo simulation to QGroundControl. So I think your request

to modify the gps info arriving from the QgroundControl

May be challenging because I think the information is flowing the other way.