Quad-tailsitter Models

[JacopoPan]

Closes #56

• ArduPilot's swan_k1_hwing
  • https://github.com/ArduPilot/SITL_Models/tree/master/Gazebo/models/swan_k1_hwing
• PX4's quadtailsitter
  • https://github.com/PX4/PX4-gazebo-models/tree/main/models/quadtailsitter

TODOs

• Create sdf.erb files and PX4/ardu SITL parameter files
  • Add camera, gimbal, and LiDAR to tailsitter models
    • Bugfix: adjust gimbal pose w.r.t. camera_extrinsics
  • Degub PX4 model air_speed sensor -> added gz::sim::systems::AirSpeed plugin
  • Revise Swan K1 .params files (INS/accel not initalizing -> add non-zero INS_ACCOFFS; update params to version 4.6.3, enable EK3, revise NAVL1_PERIOD)
  • Switch the LiftDrag plugin for the AdvancedLiftDrag for the Swan K1 SDF model's wing
  • (optional) Cleanup tailsitter .sdf of unused tags (gz_frame_id)
  • (optional) Revise up Alti Transition .params files
• Update simulation/ground tmux yml.erb files to support the tailsitter option
  • Update ArduPilot world and vehicle generation scripts
  • Add/check synthetic camera/LiDAR data routing from the simulation container
• Update aircraft tmux yml.erb files to support the tailsitter type (possibly no change, check DRONE_TYPE use)
• Use this PR to simplify new vehicle additions
  • Merge ArduPilot vehicle and world creation scripts
• Update autopilot_interface and offboard_control to support tailsitters
  • PX4 tailsitters are one of 3 types of VTOL (standard/tailsitter/tiltrotor)
    • px4_interface and px4_offboard worked unchanged, only added shorter landing transition distance and boolean is_vtol_tailsitter_ to the offboard node
  • ArduPilot tailsitters are effectively QuadPlane vehicles: no changes
  • Revise dtc_controller_node.py to support tailsitters
• Update README (tree, etc.)

NOTE: the ArduPilot tailsitter model is flyable but still poorly tuned