Rover: Simulation Update (#25644)

chfriedrich98 · web-flow · commit a6bf5a906650 · 2025-09-30T23:04:07.000-08:00
* gz: update submodule

* rover: update simulation airframes

* docs: rover simulation
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential b/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann b/ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover
 
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum b/ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
@@ -1,20 +1,21 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover
 
 . ${R}etc/init.d/rc.rover_mecanum_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
 
 	60002_gz_uuv_bluerov2_heavy
 
diff --git a/Tools/simulation/gz b/Tools/simulation/gz
@@ -1 +1 @@
-Subproject commit 6cfb3e362e1424caccb7363dca7e63484e44d188
+Subproject commit b6127f4ec20de867e215fb5f78ae88b80f371909
diff --git a/docs/assets/airframes/rover/rover_simulation.png b/docs/assets/airframes/rover/rover_simulation.png
diff --git a/docs/assets/simulation/gazebo/vehicles/rover_ackermann.png b/docs/assets/simulation/gazebo/vehicles/rover_ackermann.png
diff --git a/docs/assets/simulation/gazebo/vehicles/rover_differential.png b/docs/assets/simulation/gazebo/vehicles/rover_differential.png
diff --git a/docs/assets/simulation/gazebo/vehicles/rover_mecanum.png b/docs/assets/simulation/gazebo/vehicles/rover_mecanum.png
diff --git a/docs/en/frames_rover/index.md b/docs/en/frames_rover/index.md
@@ -64,9 +64,10 @@ Each wheel is driven by its own motor, and by controlling the speed and directio
 
 ## Simulation
 
-[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers:
+PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
 
 - [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
 - [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
+- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
 
 ![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md
@@ -58,7 +58,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### Simulation
 
-- TBD
+- Overhaul rover simulation:
+  - Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
+  - Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
+  - Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
 
 ### Ethernet
 
@@ -91,6 +94,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 - Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
 - Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
+- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
 
 ### ROS 2
 
diff --git a/docs/en/sim_gazebo_gz/index.md b/docs/en/sim_gazebo_gz/index.md
@@ -50,22 +50,24 @@ This runs both the PX4 SITL instance and the Gazebo client.
 The supported vehicles and `make` commands are listed below.
 Note that all gazebo make targets have the prefix `gz_`.
 
-| Vehicle                                                                                                                       | Command                             | `PX4_SYS_AUTOSTART` |
-| ----------------------------------------------------------------------------------------------------------------------------- | ----------------------------------- | ------------------- |
-| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor)                                                               | `make px4_sitl gz_x500`             | 4001                |
-| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth`       | 4002                |
-| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry)                      | `make px4_sitl gz_x500_vision`      | 4005                |
-| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing)          | `make px4_sitl gz_x500_lidar_down`  | 4016                |
-| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)                                    | `make px4_sitl gz_x500_lidar_2d`    | 4013                |
-| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing)        | `make px4_sitl gz_x500_lidar_front` | 4017                |
-| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing)  | `make px4_sitl gz_x500_gimbal`      | 4019                |
-| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol)                                                                            | `make px4_sitl gz_standard_vtol`    | 4004                |
-| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane)                                                                          | `make px4_sitl gz_rc_cessna`        | 4003                |
-| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane)                                                                 | `make px4_sitl gz_advanced_plane`   | 4008                |
-| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover)                                                         | `make px4_sitl gz_r1_rover`         | 4009                |
-| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)                                                               | `make px4_sitl gz_rover_ackermann`  | 4012                |
-| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol)                                                     | `make px4_sitl gz_quadtailsitter`   | 4018                |
-| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol)                                                                 | `make px4_sitl gz_tiltrotor`        | 4020                |
+| Vehicle                                                                                                                       | Command                               | `PX4_SYS_AUTOSTART` |
+| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------- | ------------------- |
+| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor)                                                               | `make px4_sitl gz_x500`               | 4001                |
+| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth`         | 4002                |
+| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry)                      | `make px4_sitl gz_x500_vision`        | 4005                |
+| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing)          | `make px4_sitl gz_x500_lidar_down`    | 4016                |
+| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar)                                    | `make px4_sitl gz_x500_lidar_2d`      | 4013                |
+| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing)        | `make px4_sitl gz_x500_lidar_front`   | 4017                |
+| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing)  | `make px4_sitl gz_x500_gimbal`        | 4019                |
+| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol)                                                                            | `make px4_sitl gz_standard_vtol`      | 4004                |
+| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane)                                                                          | `make px4_sitl gz_rc_cessna`          | 4003                |
+| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane)                                                                 | `make px4_sitl gz_advanced_plane`     | 4008                |
+| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol)                                                     | `make px4_sitl gz_quadtailsitter`     | 4018                |
+| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol)                                                                 | `make px4_sitl gz_tiltrotor`          | 4020                |
+| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover)                                                         | `make px4_sitl gz_rover_differential` | 50000               |
+| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)                                                               | `make px4_sitl gz_rover_ackermann`    | 51000               |
+| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)                                                                   | `make px4_sitl gz_rover_mecanum`      | 52000               |
+
 
 All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
 
@@ -164,16 +166,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500
 
 The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.
 
-| World             | Command                            | Description                                                 |
-| ----------------- | ---------------------------------- | ----------------------------------------------------------- |
-| `default`         | `make px4_sitl *`                  | Empty world (a grey plane)                                  |
-| `aruco`           | `make px4_sitl *_aruco`            | Empty world with aruco marker for testing precision landing |
-| `baylands`        | `make px4_sitl *_baylands`         | Baylands world surrounded by water                          |
-| `lawn`            | `make px4_sitl *_lawn`             | Lawn world for testing rovers                               |
-| `rover`           | `make px4_sitl *_rover`            | Rover world (optimised/preferred)                           |
-| `walls`           | `make px4_sitl *_walls`            | Wall world for testing collision prevention                 |
-| `windy`           | `make px4_sitl *_windy`            | Empty world with wind enabled                               |
-| `moving_platform` | `make px4_sitl *_moving_platform`  | World with moving takeoff / landing platform                |
+| World             | Command                           | Description                                                 |
+| ----------------- | --------------------------------- | ----------------------------------------------------------- |
+| `default`         | `make px4_sitl *`                 | Empty world (a grey plane)                                  |
+| `aruco`           | `make px4_sitl *_aruco`           | Empty world with aruco marker for testing precision landing |
+| `baylands`        | `make px4_sitl *_baylands`        | Baylands world surrounded by water                          |
+| `lawn`            | `make px4_sitl *_lawn`            | Lawn world for testing rovers                               |
+| `rover`           | `make px4_sitl *_rover`           | Rover world (optimised/preferred)                           |
+| `walls`           | `make px4_sitl *_walls`           | Wall world for testing collision prevention                 |
+| `windy`           | `make px4_sitl *_windy`           | Empty world with wind enabled                               |
+| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform                |
 
 :::warning
 Note that if no world is specified, PX4 will use the `default` world.
diff --git a/docs/en/sim_gazebo_gz/vehicles.md b/docs/en/sim_gazebo_gz/vehicles.md
@@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor
 [Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
 
 ```sh
-make px4_sitl gz_r1_rover
+make px4_sitl gz_rover_differential
 ```
 
 ![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png)
@@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann
 ```
 
 ![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png)
+
+### Mecanum Rover
+
+[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
+
+```sh
+make px4_sitl gz_rover_mecanum
+```
+
+![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)
