From bf8840d109508d398ac00e2a8b83a589d1f5d964 Mon Sep 17 00:00:00 2001
From: Jaeyoung Lim <jalim@ethz.ch>
Date: Tue, 9 Jan 2024 10:27:37 +0100
Subject: [PATCH] Add topic remap plugin

---
 Tools/simulation/gz                             | 2 +-
 src/modules/simulation/gz_bridge/CMakeLists.txt | 8 ++++----
 src/modules/simulation/gz_bridge/gz_env.sh.in   | 2 ++
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Tools/simulation/gz b/Tools/simulation/gz
index c78f7f0141..47e74c046b 160000
--- a/Tools/simulation/gz
+++ b/Tools/simulation/gz
@@ -1 +1 @@
-Subproject commit c78f7f01417168e8faab7a83ade2129c0d26b39d
+Subproject commit 47e74c046b2fb10309743a0119d42a21e5e4fc65
diff --git a/src/modules/simulation/gz_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
index ba36f448d3..1e804c63f6 100644
--- a/src/modules/simulation/gz_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -76,8 +76,8 @@ if(gz-transport_FOUND)
 
 	px4_add_git_submodule(TARGET git_gz PATH "${PX4_SOURCE_DIR}/Tools/simulation/gz")
 	include(ExternalProject)
-	ExternalProject_Add(gz
-		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz
+	ExternalProject_Add(px4_gz_plugins
+		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gz/plugins
 		CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 		BINARY_DIR ${PX4_BINARY_DIR}/build_gz
 		INSTALL_COMMAND ""
@@ -121,14 +121,14 @@ if(gz-transport_FOUND)
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 px4_gz_plugins
 				)
 			else()
 				add_custom_target(gz_${model_only}_${world_name}
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=gz_${model_only} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
-					DEPENDS px4
+					DEPENDS px4 px4_gz_plugins
 				)
 			endif()
 		endforeach()
diff --git a/src/modules/simulation/gz_bridge/gz_env.sh.in b/src/modules/simulation/gz_bridge/gz_env.sh.in
index 810bc88948..8f4073e724 100644
--- a/src/modules/simulation/gz_bridge/gz_env.sh.in
+++ b/src/modules/simulation/gz_bridge/gz_env.sh.in
@@ -2,5 +2,7 @@
 
 export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
 export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
+export PX4_GZ_PLUGINS=@PX4_SOURCE_DIR@/build/px4_sitl_default/build_gz
 
 export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
+export GZ_SIM_SYSTEM_PLUGIN_PATH=$GZ_SIM_SYSTEM_PLUGIN_PATH:$PX4_GZ_PLUGINS