simulation/gz_bridge: Add support for lidar altitude sensors

[Myzhe]

Solved Problem

While reading the docs I realized that there is currently no support for distance sensors (rangefinders) for GZ. The feature already exists for gazebo-classic so I thought it would be a nice addition for GZ as well.

Altitude sensors would allow for fixed-wing mission landings without tweaking the parameters (to ignore the missing terrains sensor).

The feature should also be a part of #23602.

Solution

• Add distance_sensor publisher to gz_bridge based on (1D) gz LaserScan messages
• Rename laserScanCallback() to lidarObstacleScanCallback() as there are now two gz LaserScan subscriptions
• Add lidar distance sensor to rc_cessna and advanced_plane models (Add lidar altimeter sensors PX4-gazebo-models#58)

Changelog Entry

For release notes:

Feature GZ supports lidar altitude sensors

Alternatives

I don't see any alternatives besides just not implementing the feature.

Test coverage

• Simulation/hardware testing logs: https://review.px4.io/plot_app?log=9277f0b7-d474-4e53-81f7-e6206213bdc0 (mission auto-land with rc_cessna)

[dakejahl]

There's a branch here that adds support for range finder already, maybe take a look
#23456
and the PR for the x500 model with range finder
PX4/PX4-gazebo-models#51

[hamishwillee]

No comment on the actual PR but when/if lidar or optical flow simulations go in, would be good to document - specifically in the gazebo docs to explain what you can use the models for (including things like the default range settings) and to use it. Also linked from rangefinder section and sections like those on terrain following so that people can work out how they might test the behaviour from there too. FYI @dakejahl :-)

[Myzhe]

There's a branch here that adds support for range finder already, maybe take a look #23456 and the PR for the x500 model with range finder PX4/PX4-gazebo-models#51

Oh that is neat! I will close the PR as (almost) everything is already covered in your draft.

But would suggest that there should exist a fixed wing model (rc_cessna, advanced_plane, or a new one) that has a rangefinder installed. It is strongly recommended for a fixed-wing mission landing. I think it would be nice if you could include that in your gz-models PR :)