cesar.alejandro
/
oscillation_ctrl
1
0
Fork 1
Code Issues Pull Requests Projects Releases Wiki Activity

Added world and drone models to repo

This commit is contained in:
cesar 2022-03-04 13:29:37 -04:00
parent 30fd69b4ec
commit 859cd81e4e
45 changed files with 30729 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
.gitignore vendored
View File

@ -1,3 +1,2 @@
models
citadel_hill_world.world

23
airframes/4000_spiri Normal file
View File

@ -0,0 +1,23 @@
#!/bin/sh
#
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLLRATE_K 2.35
param set-default MC_ROLLRATE_D 0.0032
param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_K 2.35
param set-default MC_PITCHRATE_D 0.0032
param set-default MC_PITCHRATE_I 0.15
#param load spiri_param/Vehicle_230_Parameters.params
param set-default MPC_Z_VEL_MAX_UP 1.0
set MIXER quad_x
set PWM_OUT 1234

22
airframes/4001_spiri_with_tether Normal file
View File

@ -0,0 +1,22 @@
#!/bin/sh
#
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter
. ${R}etc/init.d/rc.mc_defaults
param set MC_ROLLRATE_K 2.35
param set MC_ROLLRATE_D 0.0030
param set MC_ROLLRATE_I 0.15
param set MC_PITCHRATE_K 2.35
param set MC_PITCHRATE_D 0.0030
param set MC_PITCHRATE_I 0.15
param set MPC_Z_VEL_MAX_UP 0.5
param set MPC_TKO_SPEED 1.0
set MIXER quad_x
set PWM_OUT 1234

BIN
models/spiri/meshes/4258206133655d3.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 614 KiB

BIN
models/spiri/meshes/Spiri_PropBlur.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 199 KiB

11197
models/spiri/meshes/Spiri_RT_2020-140mm.dae Normal file
View File

File diff suppressed because one or more lines are too long

BIN
models/spiri/meshes/Spiri_RT_2020-Render.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 69 KiB

BIN
models/spiri/meshes/body.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 856 B

BIN
models/spiri/meshes/mattblack.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 7.4 KiB

BIN
models/spiri/meshes/rubber.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 16 KiB

BIN
models/spiri/meshes/spiriBottomMesh.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

BIN
models/spiri/meshes/spiriTopMesh.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

123
models/spiri/meshes/spiri_base_bottom.dae Normal file
View File

File diff suppressed because one or more lines are too long

124
models/spiri/meshes/spiri_base_top.dae Normal file
View File

File diff suppressed because one or more lines are too long

109
models/spiri/meshes/spiri_propeller.dae Normal file
View File

File diff suppressed because one or more lines are too long

267
models/spiri/meshes/spiri_shank.dae Normal file
View File

File diff suppressed because one or more lines are too long

BIN
models/spiri/meshes/whiteTex.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 22 KiB

16
models/spiri/model.config Normal file
View File

@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>spiri</name>
<version>1.0</version>
<sdf version="1.6">spiri.sdf</sdf>
<author>
<name>Riddhi</name>
<email>riddhi.dave@pleiadesrobotics.com</email>
</author>
<description>
Spiri specific drone
</description>
</model>

633
models/spiri/model.sdf Normal file
View File

@ -0,0 +1,633 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<model name='spiri'>
<link name='base'>
<pose frame=''>0 0 0 0 -0 -0</pose>
<inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
<mass>1.437</mass>
<inertia>
<ixx>0.1152</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1152</iyy>
<iyz>0</iyz>
<izz>0.218</izz>
<!-- <ixx>0.003252814</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.003252814</iyy>
<iyz>0</iyz>
<izz>0.032498525</izz> -->
</inertia><!-- x= 0.032498525 y=0.003252814 z=0.031612672 -->
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 -0.02103 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.04206</size>
</box>
</geometry>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_bottom.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_top_collision_1'>
<pose frame=''>0 0 0.03025 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.0605</size>
</box>
</geometry>
</collision>
<visual name='base_top_visual_1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LF_collision_2'>
<pose frame=''>0.112711 0.112711 -0.001 0 -0 0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LF_visual_2'>
<pose frame=''>0.042 0.042 -0.001 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LH_collision_3'>
<pose frame=''>-0.112711 0.112711 -0.001 0 -0 2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LH_visual_3'>
<pose frame=''>-0.042 0.042 -0.001 0 -0 2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RF_collision_4'>
<pose frame=''>0.112711 -0.112711 -0.001 0 0 -0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RF_visual_4'>
<pose frame=''>0.042 -0.042 -0.001 0 0 -0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RH_collision_5'>
<pose frame=''>-0.112711 -0.112711 -0.001 0 0 -2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RH_visual_5'>
<pose frame=''>-0.042 -0.042 -0.001 0 0 -2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='imu_joint' type='revolute'>
<child>imu_link</child>
<parent>base</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LF'>
<pose frame=''>0.165037 0.165037 0.042 0 -0 0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LF_to_propeller_LF' type='revolute'>
<child>propeller_LF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LH'>
<pose frame=''>-0.165037 0.165037 0.042 0 -0 2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LH_to_propeller_LH' type='revolute'>
<child>propeller_LH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RF'>
<pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RF_to_propeller_RF' type='revolute'>
<child>propeller_RF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RH'>
<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RH_to_propeller_RH' type='revolute'>
<child>propeller_RH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<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>

634
models/spiri/spiri.sdf Normal file
View File

@ -0,0 +1,634 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<model name='spiri'>
<link name='base'>
<pose frame=''>0 0 0 0 -0 3.141</pose>
<gravity>1</gravity>
<inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
<mass>1.437</mass>
<inertia>
<ixx>0.1152</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1152</iyy>
<iyz>0</iyz>
<izz>0.218</izz>
<!-- <ixx>0.003252814</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.003252814</iyy>
<iyz>0</iyz>
<izz>0.032498525</izz> -->
</inertia><!-- x= 0.032498525 y=0.003252814 z=0.031612672 -->
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 -0.02103 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.04206</size>
</box>
</geometry>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_bottom.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_top_collision_1'>
<pose frame=''>0 0 0.03025 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.0605</size>
</box>
</geometry>
</collision>
<visual name='base_top_visual_1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LF_collision_2'>
<pose frame=''>0.112711 0.112711 -0.001 0 -0 0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LF_visual_2'>
<pose frame=''>0.042 0.042 -0.001 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LH_collision_3'>
<pose frame=''>-0.112711 0.112711 -0.001 0 -0 2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LH_visual_3'>
<pose frame=''>-0.042 0.042 -0.001 0 -0 2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RF_collision_4'>
<pose frame=''>0.112711 -0.112711 -0.001 0 0 -0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RF_visual_4'>
<pose frame=''>0.042 -0.042 -0.001 0 0 -0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RH_collision_5'>
<pose frame=''>-0.112711 -0.112711 -0.001 0 0 -2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RH_visual_5'>
<pose frame=''>-0.042 -0.042 -0.001 0 0 -2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='imu_joint' type='revolute'>
<child>imu_link</child>
<parent>base</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LF'>
<pose frame=''>0.165037 0.165037 0.042 0 -0 0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LF_to_propeller_LF' type='revolute'>
<child>propeller_LF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LH'>
<pose frame=''>-0.165037 0.165037 0.042 0 -0 2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LH_to_propeller_LH' type='revolute'>
<child>propeller_LH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RF'>
<pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RF_to_propeller_RF' type='revolute'>
<child>propeller_RF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RH'>
<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RH_to_propeller_RH' type='revolute'>
<child>propeller_RH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<model name='gps0'>
<self_collide>0</self_collide>
<link name='gps0_link'>
<pose>0 0 0.01 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>
<joint name='gps0_joint' type='fixed'>
<parent>base</parent>
<child>gps0_link</child>
</joint>
</model>
<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>

BIN
models/spiri_with_tether/meshes/4258206133655d3.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 614 KiB

BIN
models/spiri_with_tether/meshes/Spiri_PropBlur.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 199 KiB

11197
models/spiri_with_tether/meshes/Spiri_RT_2020-140mm.dae Normal file
View File

File diff suppressed because one or more lines are too long

BIN
models/spiri_with_tether/meshes/Spiri_RT_2020-Render.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 69 KiB

BIN
models/spiri_with_tether/meshes/body.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 856 B

BIN
models/spiri_with_tether/meshes/mattblack.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 7.4 KiB

BIN
models/spiri_with_tether/meshes/rubber.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 16 KiB

BIN
models/spiri_with_tether/meshes/spiriBottomMesh.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

BIN
models/spiri_with_tether/meshes/spiriTopMesh.JPG Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 18 KiB

123
models/spiri_with_tether/meshes/spiri_base_bottom.dae Normal file
View File

File diff suppressed because one or more lines are too long

124
models/spiri_with_tether/meshes/spiri_base_top.dae Normal file
View File

File diff suppressed because one or more lines are too long

109
models/spiri_with_tether/meshes/spiri_propeller.dae Normal file
View File

File diff suppressed because one or more lines are too long

267
models/spiri_with_tether/meshes/spiri_shank.dae Normal file
View File

File diff suppressed because one or more lines are too long

BIN
models/spiri_with_tether/meshes/whiteTex.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 22 KiB

16
models/spiri_with_tether/model.config Normal file
View File

@ -0,0 +1,16 @@
<?xml version="1.0"?>
<model>
<name>Spiri with Tether Attached</name>
<version>1.0</version>
<sdf version="1.6">spiri_with_tether.sdf</sdf>
<author>
<name>Cesar</name>
<email>cesar.rodriguez@spirirobotics.com</email>
</author>
<description>
Spiri drone with tether attached
</description>
</model>

1138
models/spiri_with_tether/spiri_with_tether-gen.sdf Normal file
View File

File diff suppressed because it is too large Load Diff

1138
models/spiri_with_tether/spiri_with_tether.sdf Normal file
View File

File diff suppressed because it is too large Load Diff

391
models/spiri_with_tether/spiri_with_tether.sdf.jinja Normal file
View File

@ -0,0 +1,391 @@
{#--------------------------------SDF generator for Spiri with Tether Gazebo model---------------------------#}
{#------------------------------Retrieved from:https://github.com/RigidWing/sitl_gazebo----------------------#}
{#---------------------------------Maintained by Kitepower BV: info@kitepower.nl-----------------------------#}
{#--------------------------------The parameters bellow are the ones to be tweaked---------------------------#}
{#--------------------------------------------:Tweakable parameters:-----------------------------------------#}
{%- set number_elements = 1 -%}
{%- set tl = 1 -%} {#- tl: length of the tether element (meters) -#}
{%- set cr = 0.005 -%} {#- cr: radius of the tether element (meters) -#}
{%- set cr_v = 0.005 -%} {#- cr_v: radius of the tether element visual (meters) -#}
{%- set sr = 0.01 -%} {#- sr: element joint radius (sphere) (meters) -#}
{%- set m = 0.005 * tl -%} {#- m: mass of the element (kg), given the length -#}
{%- set cda = 1.253582 -%} {#- cda: the ratio of the drag coefficient before stall. -#}
{%- set cda_stall = 1.4326647564469914 -%} {#- cda_stall: the ratio of the drag coefficient after stall. -#}
{%- set damping = 0.05 -%} {#- Model damping -#}
{%- set friction = 0.0 -%} {#- Friction of the model relative to the world -#}
{%- set tether_stiffness = 0.05 -%} {#- Tether stiffness -#}
{%- set joint_stiffness = 0.05 -%} {#- Joint stiffness, i.e where tether attaches to drone -#}
{%- set spring_reference = 0.0 -%} {#- Reference where the spring forces are applied -#}
{%- set element_color = 'White' -%} {#- Color of the tether elements -#}
{%- set joint_color = 'Red' -%} {#- Color of the tether element joints -#}
{%- set vehicle_spawn_point_y = 0.0 -%} {#- Y coordinate of vehicle spawn point -#}
{%- set debug = 0 -%} {#- Used for debugging tether joints -#}
{#----------------------------------------------------------------------------------------------------------#}
{#---------------------------------------------:Payload parameters:-----------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- set payload_m = 0.5 -%} {#- Payload mass (kg) -#}
{%- set pr = 0.025 -%} {#- Payload radius (meters). Has to be less than FULL tether length -#}
{#-----------------------------------------------------------------------------------------------------------#}
{#----------------------------------------------:Spiri parameters:-------------------------------------------#}
{#-----------------------------------------------------------------------------------------------------------#}
{%- set spiri_collision_x = 0.21355 -%}
{%- set spiri_collision_y = 0.132 -%}
{%- set spiri_collision_z = 0.04206 -%}
{%- set theta = 1.5707 -%}
{%- set yaw = 0 -%} {#- Necessary to spawn magnometer and Spiri in correct orientation -#}
{#----------------------------------------------------------------------------------------------------------#}
{#---------------------------------------------:Computed parameters:----------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- set last_elem = number_elements |int - 1 -%}
{%- set full_tether_len = number_elements * tl -%}
{%- set vehicle_spawn_point_x = full_tether_len -%}
{#- Check if we are in debug mode -#}
{%- if debug == 1 -%}
{%- set vehicle_spawn_point_z = 4.0 -%} {#- Used to spawn in desired z location -#}
{%- set pload_spawn_x = 0 -%}
{%- set pload_spawn_y = 0 -%}
{%- set pload_spawn_z = vehicle_spawn_point_z - tl -%}
{%- set pload_joint_x = 0 -%}
{%- set pload_joint_y = 0 -%}
{%- set pload_joint_z = -tl/2 -%}
{%- else -%}
{%- set vehicle_spawn_point_z = 0.0 -%}
{%- set pload_spawn_x = full_tether_len -%}
{%- set pload_spawn_y = 0 -%}
{%- set pload_spawn_z = 0 -%}
{%- set pload_joint_x = 0 -%}
{%- set pload_joint_y = 0 -%}
{%- set pload_joint_z = tl/2 -%}
{%- endif -%}
{%- set tether_pos = vehicle_spawn_point_z - tl/2 -%} {#- Spawns tether vertically -#}
{#----------------------------------------------------------------------------------------------------------#}
{#-----------------------------------------------:MACROS:---------------------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- macro payload(payload_m, n, pr, x, y, z, j_x, j_y, j_z) -%}
<!-- PAYLOAD -->
<model name='mass'>
<link name="payload">
<pose> {{ x }} {{ y }} {{ z }} 0 0 0</pose>
<!--pose>0 0 0 0 0 0</pose-->
<gravity>1</gravity>
<inertial>
<mass>{{ payload_m }}</mass>
</inertial>
<collision name="payload_collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>{{ pr }}</radius>
</sphere>
</geometry>
</collision>
<visual name="payload_visual">
<pose>0 0 0 0 0 0</pose>
{{ sphere(pr) }}
</visual>
</link>
<!-- Tether to Payload Connection -->
{%- if number_elements == 1 %}
<joint name="tether_mass_connection" type="fixed">
{%- else -%}
{%- set k = 'ball' -%}
{#- <joint name="tether_mass_connection" type="ball"> -#}
<joint name="tether_mass_connection" type="ball">
{% endif %}
<parent>payload</parent>
<child>link_{{n}}</child>
{#- joint_param(tl, damping, friction, joint_stiffness, spring_reference, k) #}
<pose>{{ j_x }} {{ j_y }} {{ j_z }} 0 0 0</pose>
<physics>
<ode></ode>
<provide_feedback>true</provide_feedback>
</physics>
</joint>
{%- if n is number -%}
<plugin name="ft_sensor_payload" filename="libgazebo_ros_ft_sensor.so">
<updateRate>1.0</updateRate>
<topicName>ft_sensor_topic/payload</topicName>
<jointName>tether_mass_connection</jointName>
</plugin>
{%- endif %}
</model>
{%- endmacro -%}
{%- macro cylinder(tl, cr_v) -%}
<geometry>
<cylinder>
<length>{{tl}}</length>
<radius>{{cr_v}}</radius>
</cylinder>
</geometry>
{%- endmacro -%}
{%- macro sphere(sr) -%}
<geometry>
<sphere>
<radius>{{sr}}</radius>
</sphere>
</geometry>
{%- endmacro -%}
{%- macro inertial(m) -%}
{#- A note about the inertial tensor matrix - It should be as below -#}
{#- set izz = m/2*cr**2 -#}
{#- set ixx = m/12*tl**2 + m/4*cr**2 -#}
{#- set iyy = m/12*tl**2 + m/4*cr**2 -#}
{#- but seems to segfault Gazebo when changing the values of the element specs -#}
{%- set izz = 0.01 -%}
{%- set ixx = 0.01 -%}
{%- set iyy = 0.01 -%}
<inertial>
<mass>{{m}}</mass>
<inertia>
<ixx>{{ixx}}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{iyy}}</iyy>
<iyz>0</iyz>
<izz>{{izz}}</izz>
</inertia>
</inertial>
{%- endmacro -%}
{%- macro collision(tl, cr) -%}
<collision name="collision">
<pose>{{tl / 2 - tl / 2}} 0 0 0 0 0</pose>
{{ cylinder(tl, cr) }}
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
{%- endmacro -%}
{%- macro element_material(element_color) -%}
<material>
<script>
<name>Gazebo/{{element_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro joint_material(joint_color) -%}
<material>
<script>
<name>Gazebo/{{joint_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro element_visual(tl, cr_v, element_color) -%}