feat(sitl): wasm harness gains the real gz backend (unblocks the Gazebo wasm leg) - #391
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feat(sitl): wasm harness gains the real gz backend (unblocks the Gazebo wasm leg)#391avrabe wants to merge 1 commit into
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BACKEND=gazebo selects the same GazeboPhysics bridge examples/falcon-sitl-gz flies, so a wasm result and a native result are comparable rather than merely adjacent. BACKEND=mock (default) is unchanged and stays dependency-free — it is the analytic plant every number in #380 came from. The gz deps are pinned to the SAME versions falcon-sitl-gz uses. A different gz-transport here would be a different bridge than the one every native SITL result was produced with, and the comparison would stop meaning anything. Builds verified both ways on this machine: `cargo build --release` (mock) and `cargo build --release --features gazebo` against brew's gz-transport13, both exit 0. RUNNING it against a live world is currently blocked by a broken local Gazebo, not by anything here: gz-sim8 8.14.0 links libswscale.9.dylib while the installed ffmpeg 9.0.1 ships libswscale.10, so `gz sim` dies in dlopen before the world loads. Also note `gz sim` is not registered as a subcommand unless GZ_CONFIG_PATH includes /opt/homebrew/opt/gz-sim8/share/gz — worth writing down, because the symptom is `gz` printing its help text with no error. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG
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Cherry-picked out of #382, which is held for jess's input on the
sensor-frameshape. This commit is orthogonal to that seam change and should not wait on it.
Why now
#381 landed, so the Gazebo job stopped skipping its wasm leg — and immediately
failed:
The workflow runs
cargo build --release --features gazebo, but on main thatfeature is an empty stub (
gazebo = []), declared only so the#[cfg(feature = "gazebo")]blocks inside the includedphysics.rsare aknown-false cfg rather than an unexpected one. The real deps live on #382's branch.
What it adds
BACKEND=gazeboselects the sameGazeboPhysicsbridgeexamples/falcon-sitl-gzflies, so a wasm result and a native result are comparable rather than merely
adjacent.
BACKEND=mock(default) is unchanged and stays dependency-free — it isthe analytic plant every number in #380 came from.
gz deps pinned to the same versions
falcon-sitl-gzuses. A differentgz-transporthere would be a different bridge than the one every native SITLresult was produced with, and the comparison would stop meaning anything.
Verified both ways locally
Refs #386, #382, #380
🤖 Generated with Claude Code
https://claude.ai/code/session_01HvusAXYbHLyv3uTzfBcMbG