adapt to brand new plugin infrastructure

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(moving_platform_controller)
 
     # 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 MovingPlatformController TemplatePlugin)
 endif()

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

@@ -0,0 +1,68 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# Template for a new plugin project
+# Replace TemplatePlugin with your plugin name
+project(MovingPlatformController)
+
+# Add external dependencies if needed
+# include(${CMAKE_CURRENT_SOURCE_DIR}/dependency.cmake)
+
+# Find required packages
+# find_package(PackageName REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+    # Add your source files here
+    MovingPlatformController.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}
+    # Add other dependencies as needed
+    # PUBLIC ${OtherLib_LIBS}
+)
+
+target_include_directories(${PROJECT_NAME}
+    PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC ${CMAKE_CURRENT_BINARY_DIR}
+    PUBLIC px4_gz_msgs
+    # Add other include directories as needed
+    # PUBLIC ${OtherLib_INCLUDE_DIRS}
+)
+
+# Add dependencies if needed
+# add_dependencies(${PROJECT_NAME} ExternalDependency)

src/modules/simulation/gz_plugins/MovingPlatformController.cpp → src/modules/simulation/gz_plugins/moving_platform_controller/MovingPlatformController.cpp

@@ -31,11 +31,8 @@
  *
  ****************************************************************************/
 
-
 #include "MovingPlatformController.hpp"
 
-using namespace custom;
-
 #include <gz/plugin/Register.hh>
 
 #include "gz/sim/components/Pose.hh"
@@ -47,6 +44,18 @@ using namespace custom;
 #include <gz/math/Rand.hh>
 #include <gz/math/Pose3.hh>
 
+
+using namespace custom;
+
+// Register the plugin
+GZ_ADD_PLUGIN(
+	MovingPlatformController,
+	gz::sim::System,
+	gz::sim::ISystemPreUpdate,
+	gz::sim::ISystemPostUpdate,
+	gz::sim::ISystemConfigure
+)
+
 void MovingPlatformController::Configure(const gz::sim::Entity &entity,
 		const std::shared_ptr<const sdf::Element> &sdf,
 		gz::sim::EntityComponentManager &ecm,
@@ -142,7 +151,3 @@ void MovingPlatformController::sendVelocityCommands()
 {
 
 }
-
-GZ_ADD_PLUGIN(MovingPlatformController, gz::sim::System, MovingPlatformController::ISystemPreUpdate)
-
-GZ_ADD_PLUGIN_ALIAS(MovingPlatformController, "custom::MovingPlatformController")

src/modules/simulation/gz_plugins/MovingPlatformController.hpp → src/modules/simulation/gz_plugins/moving_platform_controller/MovingPlatformController.hpp

@@ -34,29 +34,35 @@
 #pragma once
 
 #include <gz/sim/System.hh>
+#include <gz/transport/Node.hh>
 
 namespace custom
 {
-class MovingPlatformController
-	: public gz::sim::System,
-	  public gz::sim::ISystemConfigure,
-	  public gz::sim::ISystemPreUpdate
+class MovingPlatformController:
+	public gz::sim::System,
+	public gz::sim::ISystemPreUpdate,
+	public gz::sim::ISystemPostUpdate,
+	public gz::sim::ISystemConfigure
 {
 public:
-
-	MovingPlatformController();
-
 	void PreUpdate(const gz::sim::UpdateInfo &_info,
 		       gz::sim::EntityComponentManager &_ecm) final;
 
+	void PostUpdate(const gz::sim::UpdateInfo &_info,
+			const gz::sim::EntityComponentManager &_ecm) final;
+
 	void Configure(const gz::sim::Entity &entity,
 		       const std::shared_ptr<const sdf::Element> &sdf,
 		       gz::sim::EntityComponentManager &ecm,
 		       gz::sim::EventManager &eventMgr) override;
 
+	MovingPlatformController();
+	~MovingPlatformController() override = default;
 
 private:
 
+	gz::transport::Node _node;
+
 	void updatePose(const gz::sim::EntityComponentManager &ecm);
 	void updateVelocityCommands(const gz::math::Vector3d &mean_velocity);
 	void sendVelocityCommands();
@@ -72,6 +78,5 @@ class MovingPlatformController
 
 	gz::math::Vector3d _platform_position{0., 0., 0.};
 	gz::math::Quaterniond _platform_orientation{1., 0., 0., 0.};
-
 };
 } // end namespace custom

src/modules/simulation/gz_plugins/moving_platform_controller/README.md

@@ -0,0 +1,30 @@
+# Template Gazebo Plugin
+
+This is a template for creating new Gazebo plugins for PX4. Follow these steps to create your own plugin:
+
+1. Copy this directory and rename it to your plugin name
+2. Update the project name in CMakeLists.txt
+3. Rename and implement the TemplateSystem.hpp/cpp files
+4. Add your plugin to the top-level CMakeLists.txt in the gz_plugins directory:
+   ```cmake
+   add_subdirectory(your_plugin_directory)
+   ```
+5. Add your plugin's target to the `px4_gz_plugins` target dependencies in the top-level CMakeLists.txt:
+   ```cmake
+   add_custom_target(px4_gz_plugins ALL DEPENDS OpticalFlowSystem YourPluginSystem)
+   ```
+6. Update the server.config file to load your plugin:
+   ```xml
+   <plugin entity_name="*" entity_type="world" filename="libYourPluginSystem.so" name="custom::YourPluginSystem"/>
+   ```
+
+## Plugin Structure
+
+This template follows the standard Gazebo plugin structure:
+
+- `TemplateSystem.hpp/cpp`: The main plugin system class that is loaded by Gazebo
+- CMakeLists.txt: Build configuration for this plugin
+
+## Testing Your Plugin
+
+After building, you can test your plugin by adding it to the server.config file and running a simulation.