Port #157 to ros2

include/ArduPilotPlugin.hh

@@ -84,6 +84,9 @@ class ArduPilotPluginPrivate;
 /// <anemometer>  scoped name for the wind sensor
 /// <connectionTimeoutMaxCount> timeout before giving up on
 ///                             controller synchronization
+/// <lock_step>           set true to enforce lock-step simulation
+/// <no_time_sync>        set true to prevent SITL from trying to sync
+///                       with wall-time
 /// <have_32_channels>    set true if 32 channels are enabled
 ///
 class GZ_SIM_VISIBLE ArduPilotPlugin:

models/iris_with_ardupilot/model.sdf

@@ -786,6 +786,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
       <have_32_channels>0</have_32_channels>
 
       <!-- Frame conventions

models/iris_with_gimbal/model.sdf

@@ -214,6 +214,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <!-- Frame conventions
         Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates

models/zephyr_with_ardupilot/model.sdf

@@ -159,6 +159,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <!-- Frame conventions
         modelXYZToAirplaneXForwardZDown:

models/zephyr_with_parachute/model.sdf

@@ -191,6 +191,7 @@
       <fdm_port_in>9002</fdm_port_in>
       <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
       <lock_step>1</lock_step>
+      <no_time_sync>1</no_time_sync>
 
       <!-- Frame conventions
         modelXYZToAirplaneXForwardZDown:

src/ArduPilotPlugin.cc

@@ -244,6 +244,9 @@ class gz::sim::systems::ArduPilotPluginPrivate
   /// \brief Set true to enforce lock-step simulation
   public: bool isLockStep{false};
 
+  /// \brief Set true to prevent SITL from trying to sync with wall-time
+  public: bool isNoTimeSync{true};
+
   /// \brief Set true if have 32 servo channels
   public: bool have32Channels{false};
 
@@ -510,7 +513,11 @@ void gz::sim::systems::ArduPilotPlugin::Configure(
   this->dataPtr->isLockStep =
     sdfClone->Get("lock_step", this->dataPtr->isLockStep).first;
 
-  this->dataPtr->have32Channels =
+  // Prevent SITL attempting time-sync (has default: true)
+  this->dataPtr->isNoTimeSync =
+    sdfClone->Get("no_time_sync", this->dataPtr->isNoTimeSync).first;
+
+    this->dataPtr->have32Channels =
     sdfClone->Get("have_32_channels", false).first;
 
   // Add the signal handler
@@ -2000,6 +2007,14 @@ void gz::sim::systems::ArduPilotPlugin::CreateStateJSON(
       writer.EndObject();
     }
 
+    // Set no time sync
+    writer.Key("no_time_sync");
+    writer.Bool(this->dataPtr->isNoTimeSync);
+
+    // Set no lockstep
+    writer.Key("no_lockstep");
+    writer.Bool(!this->dataPtr->isLockStep);
+
     writer.EndObject();
 
     // get JSON

tests/worlds/test_anemometer.sdf

@@ -289,6 +289,7 @@
         <fdm_port_in>9002</fdm_port_in>
         <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
         <lock_step>1</lock_step>
+        <no_time_sync>1</no_time_sync>
         <gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
         <modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
         <imuName>imu_link::imu_sensor</imuName>