gz: add gstreamer plugin (#24475)

src/modules/simulation/gz_bridge/server.config

@@ -14,6 +14,7 @@
       <render_engine>ogre2</render_engine>
     </plugin>
     <plugin entity_name="*" entity_type="world" filename="libOpticalFlowSystem.so" name="custom::OpticalFlowSystem"/>
+    <plugin entity_name="*" entity_type="world" filename="libGstCameraSystem.so" name="custom::GstCameraSystem"/>
     <!-- <plugin entity_name="*" entity_type="world" filename="libTemplatePlugin.so" name="custom::TemplateSystem"/> -->
   </plugins>
 </server_config>

src/modules/simulation/gz_plugins/CMakeLists.txt

@@ -80,7 +80,8 @@ if (gz-transport${GZ_TRANSPORT_VERSION}_FOUND)
     # Add our plugins as subdirectories
     add_subdirectory(optical_flow)
     add_subdirectory(template_plugin)
+    add_subdirectory(gstreamer)
 
     # Add an alias target for each plugin
-    add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem TemplatePlugin)
+    add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem TemplatePlugin GstCameraSystem)
 endif()

src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt

@@ -0,0 +1,69 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+project(GstCameraSystem)
+
+# Find required packages
+find_package(OpenCV REQUIRED)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
+pkg_check_modules(GSTREAMER_APP REQUIRED gstreamer-app-1.0)
+
+add_library(${PROJECT_NAME} SHARED
+    GstCameraSystem.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+    PUBLIC px4_gz_msgs
+    PUBLIC gz-sensors${GZ_SENSORS_VERSION}::gz-sensors${GZ_SENSORS_VERSION}
+    PUBLIC gz-plugin${GZ_PLUGIN_VERSION}::gz-plugin${GZ_PLUGIN_VERSION}
+    PUBLIC gz-sim${GZ_SIM_VERSION}::gz-sim${GZ_SIM_VERSION}
+    PUBLIC gz-transport${GZ_TRANSPORT_VERSION}::gz-transport${GZ_TRANSPORT_VERSION}
+    PUBLIC ${OpenCV_LIBS}
+    PUBLIC ${GSTREAMER_LIBRARIES}
+    PUBLIC ${GSTREAMER_APP_LIBRARIES}
+)
+
+target_include_directories(${PROJECT_NAME}
+    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
+    PUBLIC px4_gz_msgs
+    PUBLIC ${OpenCV_INCLUDE_DIRS}
+    PUBLIC ${GSTREAMER_INCLUDE_DIRS}
+    PUBLIC ${GSTREAMER_APP_INCLUDE_DIRS}
+)
+
+target_compile_options(${PROJECT_NAME}
+    PRIVATE ${GSTREAMER_CFLAGS}
+    PRIVATE ${GSTREAMER_APP_CFLAGS}
+)