634 lines
21 KiB
Plaintext
634 lines
21 KiB
Plaintext
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<joint name='shank_LH_to_propeller_LH' type='revolute'>
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<child>propeller_LH</child>
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<parent>base</parent>
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<xyz>0 0 1</xyz>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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<dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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<link name='propeller_RF'>
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<pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<ixx>0.0005299083</ixx>
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<iyz>0</iyz>
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<izz>0.000011775</izz>
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</inertia>
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<collision name='propeller_RF_collision'>
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<pose frame=''>0 0 0.009 0 -0 0</pose>
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<visual name='propeller_RF_visual'>
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<pose frame=''>0 0 0 0 -0 0.785398</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://spiri/meshes/spiri_propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='shank_RF_to_propeller_RF' type='revolute'>
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<child>propeller_RF</child>
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<parent>base</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='propeller_RH'>
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<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0005299083</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0005235333</iyy>
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<iyz>0</iyz>
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<izz>0.000011775</izz>
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</inertia>
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</inertial>
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<collision name='propeller_RH_collision'>
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<pose frame=''>0 0 0.009 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.033 0.25 0.018</size>
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</box>
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</geometry>
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</collision>
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<visual name='propeller_RH_visual'>
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<pose frame=''>0 0 0 0 -0 0.785398</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://spiri/meshes/spiri_propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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||
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<joint name='shank_RH_to_propeller_RH' type='revolute'>
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||
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<child>propeller_RH</child>
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<parent>base</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<model name='gps0'>
|
||
|
|
<link name='link'>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<mass>0.01</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>2.1733e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>2.1733e-06</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>1.8e-07</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<visual name='visual'>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.01</radius>
|
||
|
|
<length>0.002</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Black</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<sensor name='gps' type='gps'>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<gpsNoise>1</gpsNoise>
|
||
|
|
<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
|
||
|
|
<gpsZRandomWalk>4.0</gpsZRandomWalk>
|
||
|
|
<gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
|
||
|
|
<gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
|
||
|
|
<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
|
||
|
|
<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<joint name='gps0_joint' type='fixed'>
|
||
|
|
<parent>base</parent>
|
||
|
|
<child>gps0::link</child>
|
||
|
|
</joint>
|
||
|
|
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<linkName>base</linkName>
|
||
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<jointName>shank_RF_to_propeller_RF</jointName>
|
||
|
|
<linkName>propeller_RF</linkName>
|
||
|
|
<turningDirection>ccw</turningDirection>
|
||
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
||
|
|
<timeConstantDown>0.025</timeConstantDown>
|
||
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
||
|
|
<motorConstant>5.84e-06</motorConstant>
|
||
|
|
<momentConstant>0.06</momentConstant>
|
||
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
||
|
|
<motorNumber>0</motorNumber>
|
||
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
||
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||
|
|
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
|
||
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<jointName>shank_LH_to_propeller_LH</jointName>
|
||
|
|
<linkName>propeller_LH</linkName>
|
||
|
|
<turningDirection>ccw</turningDirection>
|
||
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
||
|
|
<timeConstantDown>0.025</timeConstantDown>
|
||
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
||
|
|
<motorConstant>5.84e-06</motorConstant>
|
||
|
|
<momentConstant>0.06</momentConstant>
|
||
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
||
|
|
<motorNumber>1</motorNumber>
|
||
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
||
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||
|
|
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
|
||
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<jointName>shank_LF_to_propeller_LF</jointName>
|
||
|
|
<linkName>propeller_LF</linkName>
|
||
|
|
<turningDirection>cw</turningDirection>
|
||
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
||
|
|
<timeConstantDown>0.025</timeConstantDown>
|
||
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
||
|
|
<motorConstant>5.84e-06</motorConstant>
|
||
|
|
<momentConstant>0.06</momentConstant>
|
||
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
||
|
|
<motorNumber>2</motorNumber>
|
||
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
||
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||
|
|
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
|
||
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<jointName>shank_RH_to_propeller_RH</jointName>
|
||
|
|
<linkName>propeller_RH</linkName>
|
||
|
|
<turningDirection>cw</turningDirection>
|
||
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
||
|
|
<timeConstantDown>0.025</timeConstantDown>
|
||
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
||
|
|
<motorConstant>5.84e-06</motorConstant>
|
||
|
|
<momentConstant>0.06</momentConstant>
|
||
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
||
|
|
<motorNumber>3</motorNumber>
|
||
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
||
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||
|
|
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
|
||
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<pubRate>100</pubRate>
|
||
|
|
<noiseDensity>0.0004</noiseDensity>
|
||
|
|
<randomWalk>6.4e-06</randomWalk>
|
||
|
|
<biasCorrelationTime>600</biasCorrelationTime>
|
||
|
|
<magTopic>/mag</magTopic>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<pubRate>50</pubRate>
|
||
|
|
<baroTopic>/baro</baroTopic>
|
||
|
|
<baroDriftPaPerSec>0</baroDriftPaPerSec>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<imuSubTopic>/imu</imuSubTopic>
|
||
|
|
<magSubTopic>/mag</magSubTopic>
|
||
|
|
<baroSubTopic>/baro</baroSubTopic>
|
||
|
|
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
||
|
|
<mavlink_tcp_port>4560</mavlink_tcp_port>
|
||
|
|
<mavlink_udp_port>14560</mavlink_udp_port>
|
||
|
|
<serialEnabled>0</serialEnabled>
|
||
|
|
<serialDevice>/dev/ttyACM0</serialDevice>
|
||
|
|
<baudRate>921600</baudRate>
|
||
|
|
<qgc_addr>INADDR_ANY</qgc_addr>
|
||
|
|
<qgc_udp_port>14550</qgc_udp_port>
|
||
|
|
<sdk_addr>INADDR_ANY</sdk_addr>
|
||
|
|
<sdk_udp_port>14540</sdk_udp_port>
|
||
|
|
<hil_mode>0</hil_mode>
|
||
|
|
<hil_state_level>0</hil_state_level>
|
||
|
|
<send_vision_estimation>0</send_vision_estimation>
|
||
|
|
<send_odometry>1</send_odometry>
|
||
|
|
<enable_lockstep>1</enable_lockstep>
|
||
|
|
<use_tcp>1</use_tcp> <!--This needs to be set to 1-->
|
||
|
|
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
|
||
|
|
<control_channels>
|
||
|
|
<channel name='rotor1'>
|
||
|
|
<input_index>0</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>1000</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>100</zero_position_armed>
|
||
|
|
<joint_control_type>velocity</joint_control_type>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor2'>
|
||
|
|
<input_index>1</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>1000</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>100</zero_position_armed>
|
||
|
|
<joint_control_type>velocity</joint_control_type>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor3'>
|
||
|
|
<input_index>2</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>1000</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>100</zero_position_armed>
|
||
|
|
<joint_control_type>velocity</joint_control_type>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor4'>
|
||
|
|
<input_index>3</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>1000</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>100</zero_position_armed>
|
||
|
|
<joint_control_type>velocity</joint_control_type>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor5'>
|
||
|
|
<input_index>4</input_index>
|
||
|
|
<input_offset>1</input_offset>
|
||
|
|
<input_scaling>324.6</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>0</zero_position_armed>
|
||
|
|
<joint_control_type>velocity</joint_control_type>
|
||
|
|
<joint_control_pid>
|
||
|
|
<p>0.1</p>
|
||
|
|
<i>0</i>
|
||
|
|
<d>0</d>
|
||
|
|
<iMax>0.0</iMax>
|
||
|
|
<iMin>0.0</iMin>
|
||
|
|
<cmdMax>2</cmdMax>
|
||
|
|
<cmdMin>-2</cmdMin>
|
||
|
|
</joint_control_pid>
|
||
|
|
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor6'>
|
||
|
|
<input_index>5</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>0.524</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>0</zero_position_armed>
|
||
|
|
<joint_control_type>position</joint_control_type>
|
||
|
|
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
|
||
|
|
<joint_control_pid>
|
||
|
|
<p>10.0</p>
|
||
|
|
<i>0</i>
|
||
|
|
<d>0</d>
|
||
|
|
<iMax>0</iMax>
|
||
|
|
<iMin>0</iMin>
|
||
|
|
<cmdMax>20</cmdMax>
|
||
|
|
<cmdMin>-20</cmdMin>
|
||
|
|
</joint_control_pid>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor7'>
|
||
|
|
<input_index>6</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>0.524</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>0</zero_position_armed>
|
||
|
|
<joint_control_type>position</joint_control_type>
|
||
|
|
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
|
||
|
|
<joint_control_pid>
|
||
|
|
<p>10.0</p>
|
||
|
|
<i>0</i>
|
||
|
|
<d>0</d>
|
||
|
|
<iMax>0</iMax>
|
||
|
|
<iMin>0</iMin>
|
||
|
|
<cmdMax>20</cmdMax>
|
||
|
|
<cmdMin>-20</cmdMin>
|
||
|
|
</joint_control_pid>
|
||
|
|
</channel>
|
||
|
|
<channel name='rotor8'>
|
||
|
|
<input_index>7</input_index>
|
||
|
|
<input_offset>0</input_offset>
|
||
|
|
<input_scaling>0.524</input_scaling>
|
||
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
||
|
|
<zero_position_armed>0</zero_position_armed>
|
||
|
|
<joint_control_type>position</joint_control_type>
|
||
|
|
</channel>
|
||
|
|
</control_channels>
|
||
|
|
</plugin>
|
||
|
|
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
|
||
|
|
<robotNamespace/>
|
||
|
|
<linkName>imu_link</linkName>
|
||
|
|
<imuTopic>/imu</imuTopic>
|
||
|
|
<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
|
||
|
|
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
|
||
|
|
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
|
||
|
|
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
|
||
|
|
<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
|
||
|
|
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
|
||
|
|
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
|
||
|
|
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
|
||
|
|
</plugin>
|
||
|
|
</model>
|
||
|
|
</sdf>
|