mirror of https://github.com/ArduPilot/ardupilot
update files
This commit is contained in:
harunkurtdev
parent
81a30e8d10
commit
00bc0ecc5d
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@ -155,14 +155,13 @@ class WebotsArduVehicle():
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Args:
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port (int, optional): Port to listen for SITL on. Defaults to 9002.
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"""
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# create a local UDP socket server to listen for SITL
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # SOCK_STREAM
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s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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s.bind(('0.0.0.0', port))
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# wait for SITL to connect
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print(f"Listening for ardupilot SITL (I{self._instance}) at 127.0.0.1:{port}")
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print(f"Listening for ardupilot SITL (I{self._instance}) at {sitl_address}:{port}")
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self.robot.step(self._timestep) # flush print in webots console
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while not select.select([s], [], [], 0)[0]: # wait for socket to be readable
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@ -241,12 +240,12 @@ class WebotsArduVehicle():
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Args:
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command (tuple): tuple of motor speeds 0.0-1.0 where -1.0 is unused
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"""
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# get only the number of motors we have
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command_motors = command[:len(self._motors)]
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if -1 in command_motors:
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print(f"Warning: SITL provided {command.index(-1)} motors "
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f"but model specifies {len(self._motors)} (I{self._instance})")
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command_motors = [v if v != -1 else 0.0 for v in command_motors]
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# scale commands to -1.0-1.0 if the motors are bidirectional (ex rover wheels)
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if self._bidirectional_motors:
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@ -0,0 +1,13 @@
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FRAME_CLASS 2 # Boat
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SERVO1_FUNCTION 73 # Throttle Left (Boat throttle channel)
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SERVO2_FUNCTION 74 # Throttle Right (Boat throttle channel)
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SERVO3_FUNCTION 0 # Disabled (no steering required)
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SERVO4_FUNCTION 0 # Disabled (no steering required)
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AHRS_EKF_TYPE 10 # Use sim AHRS
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#ARMING_CHECK 1045534 # No RC requirements
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ARMING_CHECK 0 # No RC requirements
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MOT_THST_EXPO 0.3 # Small motor exponential curve for smoother throttle
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SCHED_LOOP_RATE 300
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INS_GYR_CAL 0 # No gyro calibration (use simulated or fixed values)
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@ -0,0 +1,190 @@
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#VRML_SIM R2023a utf8
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# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
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# license url: https://cyberbotics.com/webots_assets_license
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# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/clearpath/heron/protos/Heron.proto
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# keywords: robot/wheeled
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# Clearpath Heron USV is an autonomous watercraft designed for various marine tasks.
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# It features electric propulsion, advanced navigation systems, and integration capabilities for collaborative missions.
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# With a streamlined hull and multiple sensor suites including cameras,
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# it excels in environmental monitoring, surveillance, and research.
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PROTO Heron [
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field SFVec3f translation 0 0 0.0 # Is `Pose.translation`.
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field SFRotation rotation 0 0 1 0 # Is `Pose.rotation`.
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field SFString name "Heron USV" # Is `Solid.name`.
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field SFString controller "void" # Is `Robot.controller`.
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field MFString controllerArgs [] # Is `Robot.controllerArgs`.
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field SFString window "<generic>" # Is `Robot.window`.
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field SFBool synchronization TRUE # Is `Robot.synchronization`.
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field MFNode bodySlot [] # Extends the robot with new nodes in the body slot.
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]
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{
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Robot {
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translation IS translation
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rotation IS rotation
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name IS name
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model "Clearpath Heron"
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controller IS controller
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controllerArgs IS controllerArgs
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window IS window
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synchronization IS synchronization
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children [
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DEF BODY_SLOT Group {
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children IS bodySlot
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}
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Transform {
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translation -0.185 0 0
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rotation 0 0 1 1.01503e-06
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children [
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Shape {
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castShadows FALSE
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appearance PBRAppearance {
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baseColor 0.964706 0.827451 0.176471
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metalness 0
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}
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geometry Mesh {
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url [
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"obj/plain-rear-plate.stl"
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]
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}
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}
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]
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}
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Transform {
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translation 0 -0.35 0.05
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children [
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Shape {
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castShadows FALSE
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appearance PBRAppearance {
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baseColor 0.960784 0.760784 0.0666667
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metalness 0
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}
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geometry Mesh {
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url [
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"obj/right_panel.stl"
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]
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}
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}
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]
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}
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Transform {
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translation 0 0.35 0.05
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children [
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Shape {
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castShadows FALSE
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appearance PBRAppearance {
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baseColor 0.960784 0.760784 0.0666667
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metalness 0
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}
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geometry Mesh {
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url [
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"obj/left_panel.stl"
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]
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}
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}
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]
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}
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Transform {
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translation -0.73 0.38 -0.14
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children [
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Propeller {
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device RotationalMotor {
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name "left_motor"
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maxVelocity 30
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}
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fastHelix Solid {
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rotation 0 1 0 1.57
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children [
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Shape {
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castShadows FALSE
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appearance PBRAppearance {
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baseColor 0.368627 0.360784 0.392157
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}
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geometry Cylinder {
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height 0.1
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radius 0.05
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}
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}
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]
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}
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}
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]
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}
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Transform {
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translation -0.73 -0.38 -0.14
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children [
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Propeller {
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device RotationalMotor {
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name "right_motor"
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maxVelocity 30
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}
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fastHelix Solid {
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rotation 0 1 0 1.5708
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children [
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Shape {
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castShadows FALSE
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appearance PBRAppearance {
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baseColor 0.368627 0.360784 0.392157
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}
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geometry Cylinder {
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height 0.1
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radius 0.05
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}
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}
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]
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}
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}
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]
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}
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DEF HERON Shape {
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castShadows FALSE
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appearance Appearance {
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material Material {
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diffuseColor 0.239216 0.219608 0.27451
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}
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texture ImageTexture {
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}
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textureTransform TextureTransform {
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}
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}
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geometry Mesh {
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url [
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"obj/heron_base.stl"
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]
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}
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}
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]
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name "heron_usv"
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immersionProperties [
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ImmersionProperties {
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fluidName "fluid"
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dragForceCoefficients 0.01 0 0
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dragTorqueCoefficients 0.05 0 0
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viscousResistanceForceCoefficient 400
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viscousResistanceTorqueCoefficient 0.1
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}
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]
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boundingObject Transform {
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scale 0.1 0.1 0.1
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children [
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Mesh {
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url [
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"obj/heron_collision.stl"
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]
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}
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]
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}
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physics Physics {
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density 400
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centerOfMass [
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0 0 0
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]
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damping Damping {
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linear 0.5
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angular 0.5
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}
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}
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linearVelocity -1.4502243780299133e-41 2.229921041216923e-42 0.0058372174879208726
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angularVelocity 0.00023835911050514857 0.001746443229709772 4.0940932765468614e-19
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}
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}
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@ -0,0 +1,152 @@
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#VRML_SIM R2023a utf8
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto"
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EXTERNPROTO "../protos/Heron.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/nvidia/jetbot/protos/JetBotRaspberryPiCamera.proto"
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EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/devices/nvidia/protos/JetsonNano.proto"
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WorldInfo {
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}
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Viewpoint {
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orientation 0.18802303494067113 0.008368575014304897 -0.9821289657086432 2.6567413787072653
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position -3.5173698357397702 0.9533488761989521 1.9238550170857296
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}
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TexturedBackground {
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}
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TexturedBackgroundLight {
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}
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DEF WATER Fluid {
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children [
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Shape {
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appearance PBRAppearance {
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baseColor 0.0626841 0.552224 0.723339
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transparency 0.7
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roughness 1
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metalness 0
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}
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geometry DEF WATER_BOX Box {
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size 1000 1000 0.7
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}
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}
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]
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viscosity 0.01
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boundingObject Transform {
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children [
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USE WATER_BOX
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]
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}
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locked TRUE
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}
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Heron {
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hidden linearVelocity_0 0 0 -3.545123546997953e-14
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hidden angularVelocity_0 4.609404596900323e-14 6.687054702593327e-13 2.3099636435669426e-16
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translation -6.6784157308512615 -0.49028637658352825 0.4450058268441469
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rotation -0.010053065114475615 -0.041473403722977586 -0.9990890314008232 0.517597020428728
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controller "ardupilot_vehicle_controller"
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controllerArgs [
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"--motors"
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"left_motor, right_motor"
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"--motor-cap"
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"10"
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"--bidirectional-motors"
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"true"
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"--camera"
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"camera"
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"--camera-port"
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"5599"
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"--sitl-address"
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"localhost"
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]
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bodySlot [
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JetsonNano {
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translation 0.17 0.0700002 0.08
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rotation 0 0 1 -1.5707953071795862
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}
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JetBotRaspberryPiCamera {
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translation 0.32 0 0.22
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fieldOfView 0.7
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near 0.1
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}
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InertialUnit {
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}
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GPS {
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}
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Accelerometer {
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}
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Gyro {
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}
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]
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}
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OilBarrel {
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hidden linearVelocity_0 0 0 1.4387456326881762e-15
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translation -5.769041604986175 5.7137363726152754 0.5595498919704248
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rotation -0.1699998685374228 -0.9047911400234424 0.39045235001513096 1.7528084979303689
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physics Physics {
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density 100
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damping Damping {
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linear 0.5
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angular 0.5
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}
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}
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immersionProperties [
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ImmersionProperties {
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fluidName "fluid"
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}
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]
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}
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OilBarrel {
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hidden linearVelocity_0 0 0 1.4387456326881762e-15
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translation -10.052079249302796 2.4814946123187727 0.5595498919704248
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rotation -0.27511330388511257 -0.6601076264091592 0.6989782482895184 -2.843722039686051
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name "oil barrel(1)"
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physics Physics {
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density 100
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damping Damping {
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linear 0.5
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angular 0.5
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}
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}
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immersionProperties [
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ImmersionProperties {
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fluidName "fluid"
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}
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]
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}
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OilBarrel {
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hidden linearVelocity_0 0 0 -1.5261006141050254e-15
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translation -9.806804324970415 -3.2705951440882433 0.5595498919704249
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rotation 0.9914248557443196 0.045597095586811014 0.12246493492588871 1.5859460279251565
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name "oil barrel(2)"
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physics Physics {
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density 100
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damping Damping {
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linear 0.5
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angular 0.5
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}
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}
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immersionProperties [
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ImmersionProperties {
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fluidName "fluid"
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}
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]
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}
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OilBarrel {
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hidden linearVelocity_0 0 0 1.4387456326881762e-15
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translation -9.046348837161165 3.2463636605243056 0.5595498919704248
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rotation 0.7378366847241952 0.14393236835260417 -0.6594546989866846 -2.4506564948848384
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name "oil barrel(3)"
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physics Physics {
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density 100
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damping Damping {
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linear 0.5
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angular 0.5
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}
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}
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immersionProperties [
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ImmersionProperties {
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fluidName "fluid"
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}
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]
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}
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