mirror of https://github.com/ArduPilot/ardupilot
259 lines
9.6 KiB
XML
259 lines
9.6 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from /home/tridge/project/UAV/pybullet/rotors_simulator/rotors_description/urdf/iris.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="iris">
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<link name="iris/base_link"/>
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<joint name="iris/base_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="iris/base_link"/>
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<child link="iris/base_link_inertia"/>
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</joint>
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<link name="iris/base_link_inertia">
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<inertial>
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<mass value="1.5"/>
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<!-- [kg] -->
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<origin xyz="0 0 0"/>
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<inertia ixx="0.0347563" ixy="0.0" ixz="0.0" iyy="0.0458929" iyz="0.0" izz="0.0977"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/iris.dae" scale="1 1 1"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.47 0.47 0.11"/>
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<!-- [m] [m] [m] -->
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</geometry>
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</collision>
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</link>
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<!-- attach multirotor_base_plugin to the base_link -->
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<gazebo>
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<plugin filename="librotors_gazebo_multirotor_base_plugin.so" name="multirotor_base_plugin">
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<robotNamespace>iris</robotNamespace>
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<linkName>iris/base_link</linkName>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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</gazebo>
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<joint name="iris/rotor_0_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0.13 -0.22 0.023"/>
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<axis xyz="0 0 1"/>
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<!-- TODO(ff): not currently set because it's not yet supported -->
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<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
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<parent link="iris/base_link"/>
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<child link="iris/rotor_0"/>
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</joint>
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<link name="iris/rotor_0">
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<inertial>
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<mass value="0.00005"/>
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<!-- [kg] -->
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<inertia ixx="9.7499961e-07" ixy="0.0" ixz="0.0" iyy="4.170414998500001e-05" iyz="0.0" izz="4.2604149625000006e-05"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/propeller_ccw.dae" scale="0.1 0.1 0.1"/>
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<!-- The propeller meshes have a radius of 1m -->
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<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.005" radius="0.1"/>
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<!-- [m] -->
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</geometry>
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</collision>
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</link>
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<gazebo>
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<plugin filename="librotors_gazebo_motor_model.so" name="iris_front_right_motor_model">
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<robotNamespace>iris</robotNamespace>
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<jointName>iris/rotor_0_joint</jointName>
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<linkName>iris/rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>838</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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</gazebo>
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<gazebo reference="iris/rotor_0">
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<material>Gazebo/Blue</material>
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</gazebo>
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<joint name="iris/rotor_1_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.13 0.2 0.023"/>
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<axis xyz="0 0 1"/>
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<!-- TODO(ff): not currently set because it's not yet supported -->
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<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
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<parent link="iris/base_link"/>
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<child link="iris/rotor_1"/>
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</joint>
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<link name="iris/rotor_1">
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<inertial>
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<mass value="0.00005"/>
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<!-- [kg] -->
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<inertia ixx="9.7499961e-07" ixy="0.0" ixz="0.0" iyy="4.170414998500001e-05" iyz="0.0" izz="4.2604149625000006e-05"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/propeller_ccw.dae" scale="0.1 0.1 0.1"/>
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<!-- The propeller meshes have a radius of 1m -->
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<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.005" radius="0.1"/>
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<!-- [m] -->
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</geometry>
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</collision>
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</link>
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<gazebo>
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<plugin filename="librotors_gazebo_motor_model.so" name="iris_back_left_motor_model">
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<robotNamespace>iris</robotNamespace>
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<jointName>iris/rotor_1_joint</jointName>
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<linkName>iris/rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>838</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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</gazebo>
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<gazebo reference="iris/rotor_1">
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<material>Gazebo/Red</material>
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</gazebo>
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<joint name="iris/rotor_2_joint" type="continuous">
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<origin rpy="0 0 0" xyz="0.13 0.22 0.023"/>
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<axis xyz="0 0 1"/>
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<!-- TODO(ff): not currently set because it's not yet supported -->
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<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
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<parent link="iris/base_link"/>
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<child link="iris/rotor_2"/>
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</joint>
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<link name="iris/rotor_2">
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<inertial>
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<mass value="0.00005"/>
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<!-- [kg] -->
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<inertia ixx="9.7499961e-07" ixy="0.0" ixz="0.0" iyy="4.170414998500001e-05" iyz="0.0" izz="4.2604149625000006e-05"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/propeller_cw.dae" scale="0.1 0.1 0.1"/>
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<!-- The propeller meshes have a radius of 1m -->
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<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.005" radius="0.1"/>
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<!-- [m] -->
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</geometry>
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</collision>
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</link>
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<gazebo>
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<plugin filename="librotors_gazebo_motor_model.so" name="iris_front_left_motor_model">
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<robotNamespace>iris</robotNamespace>
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<jointName>iris/rotor_2_joint</jointName>
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<linkName>iris/rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>838</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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</gazebo>
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<gazebo reference="iris/rotor_2">
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<material>Gazebo/Blue</material>
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</gazebo>
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<joint name="iris/rotor_3_joint" type="continuous">
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<origin rpy="0 0 0" xyz="-0.13 -0.2 0.023"/>
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<axis xyz="0 0 1"/>
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<!-- TODO(ff): not currently set because it's not yet supported -->
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<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
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<parent link="iris/base_link"/>
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<child link="iris/rotor_3"/>
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</joint>
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<link name="iris/rotor_3">
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<inertial>
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<mass value="0.00005"/>
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<!-- [kg] -->
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<inertia ixx="9.7499961e-07" ixy="0.0" ixz="0.0" iyy="4.170414998500001e-05" iyz="0.0" izz="4.2604149625000006e-05"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="meshes/propeller_cw.dae" scale="0.1 0.1 0.1"/>
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<!-- The propeller meshes have a radius of 1m -->
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<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.005" radius="0.1"/>
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<!-- [m] -->
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</geometry>
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</collision>
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</link>
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<gazebo>
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<plugin filename="librotors_gazebo_motor_model.so" name="iris_back_right_motor_model">
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<robotNamespace>iris</robotNamespace>
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<jointName>iris/rotor_3_joint</jointName>
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<linkName>iris/rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>838</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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</gazebo>
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<gazebo reference="iris/rotor_3">
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<material>Gazebo/Red</material>
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</gazebo>
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</robot>
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