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support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) 

* Add gz plane airframe config

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
This commit is contained in:
JaeyoungLim 2023-01-24 15:22:53 +01:00 committed by GitHub
parent c31867f104
commit 644aeb9153
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
17 changed files with 6100 additions and 33 deletions
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81
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane Normal file
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@ -0,0 +1,81 @@
#!/bin/sh
#
# @name Gazebo plane
# @type Fixedwing
#
. ${R}etc/init.d/rc.fw_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=plane}
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0
param set-default FW_LND_ANG 8
param set-default FW_L1_PERIOD 12
param set-default FW_PR_P 0.9
param set-default FW_PR_FF 0.5
param set-default FW_PR_I 0.5
param set-default TRIM_PITCH -0.15
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.5
param set-default FW_RR_P 0.3
param set-default FW_RR_I 0.5
param set-default FW_YR_FF 0.5
param set-default FW_YR_P 0.6
param set-default FW_YR_I 0.5
param set-default FW_SPOILERS_LND 0.4
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_TRIM 0.25
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_W_EN 1
param set-default MIS_TAKEOFF_ALT 30
param set-default NAV_ACC_RAD 15
param set-default NAV_DLL_ACT 2
param set-default RWTO_TKOFF 1
param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 6
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_MIN1 0
param set-default SIM_GZ_EC_MAX1 1000
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_FUNC5 205
param set-default SIM_GZ_SV_FUNC6 206

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -72,6 +72,7 @@ px4_add_romfs_files(
4001_gz_x500
4002_gz_x500_depth
4003_gz_plane
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post

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<float>1</float>
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</COLLADA>

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Tools/simulation/gz/models/plane/meshes/rudder.dae Normal file
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15
Tools/simulation/gz/models/plane/model.config Normal file
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@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>Plane</name>
<version>1.0</version>
<sdf version='1.9'>model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>
This is a model of a standard plane.
</description>
</model>

596
Tools/simulation/gz/models/plane/model.sdf Normal file
View File

@ -0,0 +1,596 @@
<?xml version="1.0"?>
<sdf version='1.9'>
<model name='plane'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.197563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1458929</iyy>
<iyz>0</iyz>
<izz>0.1477</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 -0.07 0 0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>10</max_vel>
<min_depth>0.01</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0.07 0 -0.08 0 0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/body.dae</uri>
</mesh>
</geometry>
<material>
<ambient>.175 .175 .175 1.0</ambient>
<diffuse>.175 .175 .175 1.0</diffuse>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="airspeed">
<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>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.1</length>
</cylinder>
</geometry>
<material>
<ambient>0 0 0 1.0</ambient>
<diffuse>0 0 0 1.0</diffuse>
</material>
</visual>
<!-- <sensor name="air_speed" type="air_speed">
<always_on>1</always_on>
<update_rate>5.0</update_rate>
<enable_metrics>false</enable_metrics>
<air_speed>
<airspeed>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</airspeed>
</air_speed>
</sensor> -->
</link>
<joint name='airspeed_joint' type='fixed'>
<child>airspeed</child>
<parent>base_link</parent>
</joint>
<link name='rotor_puller'>
<pose>0.22 0 0.0 0 1.57 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_puller_collision'>
<pose>0.0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.005 0.22 0.02</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<!-- <visual name='rotor_puller_collision_visual'>
<pose>0.0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.005 0.22 0.02</size>
</box>
</geometry>
</visual> -->
<visual name='rotor_puller_visual'>
<pose>0 0 0 0.0 0 0.0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://plane/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_puller_joint' type='revolute'>
<child>rotor_puller</child>
<parent>base_link</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="left_elevon">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 0.3 0 0.00 0 0.0</pose>
</inertial>
<visual name='left_elevon_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/left_aileron.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="right_elevon">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 -0.3 0 0.00 0 0.0</pose>
</inertial>
<visual name='right_elevon_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/right_aileron.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="left_flap">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 0.15 0 0.00 0 0.0</pose>
</inertial>
<visual name='left_flap_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/left_flap.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="right_flap">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 -0.15 0 0.00 0 0.0</pose>
</inertial>
<visual name='right_flap_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/right_flap.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="elevator">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose> -0.5 0 0 0.00 0 0.0</pose>
</inertial>
<visual name='elevator_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/elevators.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<link name="rudder">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>-0.5 0 0.05 0 0 0 </pose>
</inertial>
<visual name='rudder_visual'>
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>model://plane/meshes/rudder.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1.0</ambient>
<diffuse>0 0 1 1.0</diffuse>
</material>
</visual>
</link>
<joint name='px4_servo_0' type='revolute'>
<parent>base_link</parent>
<child>left_elevon</child>
<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='px4_servo_1' type='revolute'>
<parent>base_link</parent>
<child>right_elevon</child>
<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='left_flap_joint' type='revolute'>
<parent>base_link</parent>
<child>left_flap</child>
<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='right_flap_joint' type='revolute'>
<parent>base_link</parent>
<child>right_flap</child>
<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='px4_servo_2' type='revolute'>
<parent>base_link</parent>
<child>elevator</child>
<pose> -0.5 0 0 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='rudder_joint' type='revolute'>
<parent>base_link</parent>
<child>rudder</child>
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 0.45 0.05</cp>
<area>0.6</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>px4_servo_0</control_joint_name>
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>px4_servo_0</joint_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 -0.45 0.05</cp>
<area>0.6</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>px4_servo_1</control_joint_name>
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>px4_servo_1</joint_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 0.15 0.05</cp>
<area>0.6</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>left_flap_joint</control_joint_name>
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
</plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 -0.15 0.05</cp>
<area>0.6</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>right_flap_joint</control_joint_name>
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
</plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>-0.2</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.5 0 0</cp>
<area>0.01</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>px4_servo_2</control_joint_name>
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>px4_servo_2</joint_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.5 0 0.05</cp>
<area>0.02</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 1 0</upward>
<link_name>base_link</link_name>
<control_joint_name>rudder_joint</control_joint_name>
<control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
<joint_name>rudder_joint</joint_name>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<jointName>rotor_puller_joint</jointName>
<linkName>rotor_puller</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000</maxRotVelocity>
<motorConstant>2.44858e-05</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<static>0</static>
</model>
</sdf>

58
src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
View File

@ -35,18 +35,19 @@
bool GZMixingInterfaceServo::init(const std::string &model_name)
{
#if 0 // TODO
// output eg /X500/command/motor_speed
std::string actuator_topic = "/" + model_name + "/command/motor_speed";
_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
// /model/plane_0/joint/left_elevon_joint/0/cmd_pos
for (int i = 0; i < 8; i++) {
std::string joint_name = "px4_servo_" + std::to_string(i);
std::string servo_topic = "/model/" + model_name + "/joint/" + joint_name + "/0/cmd_pos";
//std::cout << "Servo topic: " << servo_topic << std::endl;
_servos_pub.push_back(_node.Advertise<ignition::msgs::Double>(servo_topic));
if (!_actuators_pub.Valid()) {
PX4_ERR("failed to advertise %s", actuator_topic.c_str());
return false;
if (!_servos_pub.back().Valid()) {
PX4_ERR("failed to advertise %s", servo_topic.c_str());
return false;
}
}
#endif
ScheduleNow();
return true;
@ -55,37 +56,30 @@ bool GZMixingInterfaceServo::init(const std::string &model_name)
bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{
bool updated = false;
// cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
#if 0 // TODO
unsigned active_output_count = 0;
int i = 0;
for (unsigned i = 0; i < num_outputs; i++) {
for (auto &servo_pub : _servos_pub) {
if (_mixing_output.isFunctionSet(i)) {
active_output_count++;
ignition::msgs::Double servo_output;
///TODO: Normalize output data
double output = (outputs[i] - 500) / 500.0;
// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
// std::cout << " output: " << output << std::endl;
servo_output.set_data(output);
} else {
break;
if (servo_pub.Valid()) {
servo_pub.Publish(servo_output);
updated = true;
}
}
i++;
}
if (active_output_count > 0) {
ignition::msgs::Actuators rotor_velocity_message;
rotor_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
for (unsigned i = 0; i < active_output_count; i++) {
rotor_velocity_message.set_velocity(i, outputs[i]);
}
if (_actuators_pub.Valid()) {
return _actuators_pub.Publish(rotor_velocity_message);
}
}
#endif
return false;
return updated;
}
void GZMixingInterfaceServo::Run()

2
src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp
View File

@ -72,5 +72,5 @@ private:
MixingOutput _mixing_output{"SIM_GZ_SV", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
//ignition::transport::Node::Publisher _actuators_pub;
std::vector<ignition::transport::Node::Publisher> _servos_pub;
};