From 644aeb91539d0d8e06f2524da65f196f268b8243 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Tue, 24 Jan 2023 15:22:53 +0100 Subject: [PATCH] support fixed-wing in new Gazebo (gz or ignition gazebo) (#20939) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Add gz plane airframe config Co-authored-by: Alejandro Hernández Cordero Co-authored-by: Benjamin Perseghetti --- .../init.d-posix/airframes/4003_gz_plane | 81 + .../init.d-posix/airframes/CMakeLists.txt | 1 + .../gz/models/plane/meshes/body.dae | 4173 +++++++++++++++++ .../gz/models/plane/meshes/elevators.dae | 165 + .../gz/models/plane/meshes/iris_prop_ccw.dae | 160 + .../gz/models/plane/meshes/iris_prop_cw.dae | 160 + .../gz/models/plane/meshes/left_aileron.dae | 114 + .../gz/models/plane/meshes/left_flap.dae | 114 + .../gz/models/plane/meshes/propeller_ccw.dae | 63 + .../gz/models/plane/meshes/propeller_cw.dae | 63 + .../gz/models/plane/meshes/right_aileron.dae | 114 + .../gz/models/plane/meshes/right_flap.dae | 161 + .../gz/models/plane/meshes/rudder.dae | 93 + Tools/simulation/gz/models/plane/model.config | 15 + Tools/simulation/gz/models/plane/model.sdf | 596 +++ .../gz_bridge/GZMixingInterfaceServo.cpp | 58 +- .../gz_bridge/GZMixingInterfaceServo.hpp | 2 +- 17 files changed, 6100 insertions(+), 33 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane create mode 100644 Tools/simulation/gz/models/plane/meshes/body.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/elevators.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/iris_prop_ccw.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/iris_prop_cw.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/left_aileron.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/left_flap.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/propeller_ccw.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/propeller_cw.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/right_aileron.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/right_flap.dae create mode 100644 Tools/simulation/gz/models/plane/meshes/rudder.dae create mode 100644 Tools/simulation/gz/models/plane/model.config create mode 100644 Tools/simulation/gz/models/plane/model.sdf diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane new file mode 100644 index 0000000000..56fdc02cd7 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_plane @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 7e682b0011..131bf9d45f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -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 diff --git a/Tools/simulation/gz/models/plane/meshes/body.dae b/Tools/simulation/gz/models/plane/meshes/body.dae new file mode 100644 index 0000000000..606f95644b --- /dev/null +++ b/Tools/simulation/gz/models/plane/meshes/body.dae @@ -0,0 +1,4173 @@ + + + + + SketchUp 15.3.331 + + 2015-05-27T19:02:35Z + 2015-05-27T19:02:35Z + + Z_UP + + + + + + 0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 0 0 1 -19.50896 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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119.0945 5.472441 15.4116 119.0945 5.472441 16.88976 118.5231 4.882348 17.61099 118.9938 5.075852 16.88976 118.9938 5.075852 16.88976 118.5231 4.882348 17.61099 119.0945 5.472441 16.88976 117.3949 4.220651 20.07726 116.6636 4.612676 20.5501 115.6958 4.037444 20.76011 117.6817 4.722442 20.14098 117.6817 4.722442 20.14098 117.3949 4.220651 20.07726 116.6636 4.612676 20.5501 115.6958 4.037444 20.76011 114.0207 3.871397 21.379 112.4601 4.299352 21.71792 111.7182 3.791283 21.6776 114.0668 4.355255 21.50956 114.0668 4.355255 21.50956 114.0207 3.871397 21.379 112.4601 4.299352 21.71792 111.7182 3.791283 21.6776 110.5512 3.756234 21.80823 108.9669 4.298201 21.72221 108.3414 3.834596 21.51616 110.5512 4.242021 21.93161 110.5512 4.242021 21.93161 110.5512 3.756234 21.80823 108.9669 4.298201 21.72221 108.3414 3.834596 21.51616 107.0791 3.871397 21.379 105.8872 4.477713 21.05314 105.4701 4.046893 20.72489 107.01 4.355255 21.50956 107.01 4.355255 21.50956 107.0791 3.871397 21.379 105.8872 4.477713 21.05314 105.4701 4.046893 20.72489 103.2953 4.722442 20.14098 102.7201 4.525001 18.94289 103.6298 4.220651 20.07726 102.7502 4.904791 19.46133 102.7502 4.904791 19.46133 103.2953 4.722442 20.14098 102.7201 4.525001 18.94289 103.6298 4.220651 20.07726 101.9291 5.472441 16.88976 101.9291 5.472441 15.4116 102.0357 5.077534 16.8835 102.0357 5.077534 16.8835 101.9291 5.472441 15.4116 101.9291 5.472441 16.88976 101.7673 6.113176 13.02346 101.097 8.767853 12.83465 101.097 8.767853 12.83465 101.7673 6.113176 13.02346 102.2804 5.472441 12.06417 102.2804 5.472441 12.06417 119.0945 6.463582 11.99368 119.0945 6.463582 11.99368 119.2369 6.113176 13.02346 119.8268 8.767853 12.83465 119.8268 8.767853 12.83465 119.2369 6.113176 13.02346 119.0945 5.472441 15.4116 119.0945 5.472441 15.4116 118.9604 5.472441 17.34559 118.9604 5.472441 17.34559 118.1102 5.472441 20.23622 116.6636 4.612676 20.5501 117.6817 4.722442 20.14098 117.6817 4.722442 20.14098 116.6636 4.612676 20.5501 118.1102 5.472441 20.23622 114.1732 5.472441 21.81102 112.4601 4.299352 21.71792 114.0668 4.355255 21.50956 114.0668 4.355255 21.50956 112.4601 4.299352 21.71792 114.1732 5.472441 21.81102 110.5512 5.472441 22.24409 108.9669 4.298201 21.72221 110.5512 4.242021 21.93161 110.5512 4.242021 21.93161 108.9669 4.298201 21.72221 110.5512 5.472441 22.24409 107.01 4.355255 21.50956 106.8504 5.472441 21.81102 105.8872 4.477713 21.05314 105.8872 4.477713 21.05314 106.8504 5.472441 21.81102 107.01 4.355255 21.50956 102.7953 5.472441 20.23622 102.7502 4.904791 19.46133 103.2953 4.722442 20.14098 103.2953 4.722442 20.14098 102.7502 4.904791 19.46133 102.7953 5.472441 20.23622 102.0471 5.472441 17.34559 102.0471 5.472441 17.34559 101.7673 6.113176 13.02346 101.8983 5.594739 16.88976 101.6685 6.504734 13.49804 101.097 8.767853 12.83465 100.9449 9.370079 13.29424 100.9449 9.370079 12.83465 100.9449 9.370079 12.83465 100.9449 9.370079 13.29424 101.097 8.767853 12.83465 101.6685 6.504734 13.49804 101.7673 6.113176 13.02346 101.8983 5.594739 16.88976 101.7267 7.987888 11.88526 100.9768 9.31357 12.79583 100.9768 9.31357 12.79583 101.7267 7.987888 11.88526 119.6862 9.370079 11.78695 119.9494 9.370079 12.79181 119.9494 9.370079 12.79181 119.6862 9.370079 11.78695 119.1217 5.594739 16.88976 119.2369 6.113176 13.02346 119.3239 6.504734 13.49804 119.8268 8.767853 12.83465 119.9606 9.370079 13.29424 119.9606 9.370079 12.83465 119.9606 9.370079 12.83465 119.8268 8.767853 12.83465 119.9606 9.370079 13.29424 119.3239 6.504734 13.49804 119.2369 6.113176 13.02346 119.1217 5.594739 16.88976 118.9604 5.472441 17.34559 118.9604 5.472441 17.34559 102.0471 5.472441 17.34559 102.0471 5.472441 17.34559 101.935 5.568663 16.98696 101.935 5.568663 16.98696 101.4079 7.536569 16.88976 101.6685 6.504734 13.49804 101.8983 5.594739 16.88976 101.2036 8.345712 14.77278 100.9449 9.370079 13.29424 100.9449 9.370079 14.71733 100.9449 9.370079 14.71733 101.2036 8.345712 14.77278 100.9449 9.370079 13.29424 101.6685 6.504734 13.49804 101.4079 7.536569 16.88976 101.8983 5.594739 16.88976 100.0787 14.29134 12.94422 100.0787 14.29134 12.59843 100.0787 14.29134 12.59843 100.0787 14.29134 12.94422 100.9768 9.31357 12.79583 100.9768 9.31357 12.79583 101.2567 9.370079 11.78695 100.9576 9.370079 12.79181 100.9576 9.370079 12.79181 101.2567 9.370079 11.78695 120.0558 10.69146 11.69297 119.9645 9.424101 12.78797 119.9645 9.424101 12.78797 120.0558 10.69146 11.69297 119.9494 9.370079 12.79181 119.9494 9.370079 12.79181 120.9449 14.29134 12.59843 120.9449 14.29134 12.94422 120.9449 14.29134 12.94422 120.9449 14.29134 12.59843 119.3239 6.504734 13.49804 119.5532 7.536569 16.88976 119.1217 5.594739 16.88976 119.733 8.345712 14.77278 119.9606 9.370079 13.29424 119.9606 9.370079 14.71733 119.9606 9.370079 14.71733 119.9606 9.370079 13.29424 119.733 8.345712 14.77278 119.3239 6.504734 13.49804 119.5532 7.536569 16.88976 119.1217 5.594739 16.88976 118.665 6.640972 19.23294 118.665 6.640972 19.23294 114.4087 5.675152 21.75983 118.2227 6.214526 20.34866 118.2227 6.214526 20.34866 114.4087 5.675152 21.75983 110.57 5.489726 22.24497 114.2011 5.644931 21.8389 114.2011 5.644931 21.8389 110.57 5.489726 22.24497 107.0124 5.641248 21.84854 110.5514 5.489342 22.24597 110.5514 5.489342 22.24597 107.0124 5.641248 21.84854 103.3625 6.117942 20.60135 106.8225 5.644931 21.8389 106.8225 5.644931 21.8389 103.3625 6.117942 20.60135 101.935 5.568663 16.98696 102.6753 6.214526 20.34866 102.0194 6.961629 18.39399 102.0194 6.961629 18.39399 102.6753 6.214526 20.34866 101.935 5.568663 16.98696 100.0787 14.29134 14.45092 100.0787 14.29134 12.94422 100.0787 14.29134 12.94422 100.0787 14.29134 14.45092 100.0787 14.59752 12.92244 100.0787 14.59752 12.92244 100.1635 14.06601 12.45782 100.9576 9.370079 12.79181 100.1635 14.06601 12.45782 100.9576 9.370079 12.79181 100.707 12.62043 11.55578 100.1635 14.06601 12.45782 100.1635 14.06601 12.45782 100.707 12.62043 11.55578 120.9203 14.29134 12.44179 120.7627 14.29134 11.43693 120.7627 14.29134 11.43693 120.9203 14.29134 12.44179 119.9645 9.424101 12.78797 119.9645 9.424101 12.78797 121.1811 18.34646 12.24409 121.1588 17.9633 12.68305 121.1588 17.9633 12.68305 121.1811 18.34646 12.24409 120.9449 14.29134 14.45092 120.9449 14.29134 12.94422 120.9449 14.29134 12.94422 120.9449 14.29134 14.45092 120.9203 14.29134 12.44179 120.9203 14.29134 12.44179 100.0787 15.95667 14.36076 100.0787 14.59752 12.92244 100.0787 14.59752 12.92244 100.0787 15.95667 14.36076 99.72441 18.34646 12.24409 99.75581 18.34646 12.6558 99.75581 18.34646 12.6558 99.72441 18.34646 12.24409 100.1033 14.29134 12.44179 100.1033 14.29134 12.44179 100.2609 14.29134 11.43693 100.1033 14.29134 12.44179 100.1033 14.29134 12.44179 100.2609 14.29134 11.43693 120.9449 15.37229 11.36005 120.9449 14.43711 12.43142 120.9449 14.43711 12.43142 120.9449 15.37229 11.36005 121.1602 18.34646 12.6558 121.1602 18.34646 12.6558 121.075 16.52575 14.32995 121.1588 17.9633 12.68305 121.1588 17.9633 12.68305 121.075 16.52575 14.32995 120.9449 14.43711 12.43142 121.1761 18.34646 12.15337 121.1761 18.34646 12.15337 120.9449 14.43711 12.43142 99.75581 18.34646 12.6558 99.87598 18.34646 14.23139 99.87598 18.34646 14.23139 99.75581 18.34646 12.6558 99.72441 18.77574 12.62527 99.72441 18.77574 12.62527 99.74702 18.25332 12.16 99.74702 18.25332 12.16 99.99741 17.22167 11.22851 99.74702 18.25332 12.16 99.74702 18.25332 12.16 99.99741 17.22167 11.22851 121.1761 18.34646 12.15337 121.1208 18.34646 11.14851 121.1208 18.34646 11.14851 121.1761 18.34646 12.15337 121.1811 19.70443 12.05679 121.1469 22.25215 12.37801 121.1709 22.71563 11.84262 121.1709 22.71563 11.84262 121.1811 19.70443 12.05679 121.1469 22.25215 12.37801 121.0801 18.34646 14.23139 121.1602 18.34646 12.6558 121.1602 18.34646 12.6558 121.0801 18.34646 14.23139 121.1766 18.43289 12.14723 121.1766 18.43289 12.14723 99.72441 18.77574 12.62527 99.72441 20.45596 14.11719 99.72441 20.45596 14.11719 99.72441 18.77574 12.62527 99.72441 19.70443 12.05679 99.72441 51.14173 10.32326 99.72441 51.14173 9.820827 99.72441 51.14173 9.820827 99.72441 51.14173 10.32326 99.72441 19.70443 12.05679 99.7319 18.34646 12.15337 99.7319 18.34646 12.15337 99.81487 18.34646 11.14851 99.7319 18.34646 12.15337 99.7319 18.34646 12.15337 99.81487 18.34646 11.14851 121.1766 18.43289 12.14723 121.1271 19.3903 11.07427 121.1271 19.3903 11.07427 121.1766 18.43289 12.14723 121.1811 22.91339 12.33098 121.1811 22.91339 11.82855 121.1811 22.91339 11.82855 121.1811 22.91339 12.33098 121.1469 22.25215 12.37801 121.0698 20.76088 14.10068 121.0698 20.76088 14.10068 121.1469 22.25215 12.37801 121.1811 22.91339 11.61417 121.1709 22.71563 11.84262 121.1811 19.70443 12.05679 121.1811 19.70443 12.05679 121.1709 22.71563 11.84262 121.1811 22.91339 11.61417 99.72441 51.14173 10.32326 99.72441 51.14173 12.45601 99.72441 51.14173 12.45601 99.72441 51.14173 10.32326 99.81733 52.35997 10.23661 99.77673 51.82774 9.772035 99.77673 51.82774 9.772035 99.81733 52.35997 10.23661 99.72441 51.14173 9.820827 99.72441 22.91339 11.61417 99.72441 19.70443 12.05679 99.72441 26.5748 10.98425 99.72441 30.62992 10.51181 99.72441 33.34646 10.3937 99.72441 36.1811 10.15748 99.72441 44.76378 9.527559 99.72441 51.14173 9.173228 99.72441 51.14173 9.173228 99.72441 51.14173 9.820827 99.72441 44.76378 9.527559 99.72441 36.1811 10.15748 99.72441 33.34646 10.3937 99.72441 30.62992 10.51181 99.72441 26.5748 10.98425 99.72441 22.91339 11.61417 99.72441 19.70443 12.05679 99.79467 22.00775 10.88811 99.79467 22.00775 10.88811 121.1395 22.91339 10.82369 121.1395 22.91339 10.82369 121.1811 51.14173 9.820827 121.1811 51.14173 10.32326 121.1811 51.14173 10.32326 121.1811 51.14173 9.820827 121.1811 22.91339 13.98416 121.1811 22.91339 12.33098 121.1811 22.91339 12.33098 121.1811 22.91339 13.98416 121.1811 22.91339 11.82855 121.1811 22.91339 11.82855 99.9945 54.68296 12.2643 99.81733 52.35997 10.23661 99.81733 52.35997 10.23661 99.9945 54.68296 12.2643 99.7701 55.7874 9.490407 99.81159 55.7874 9.992836 99.81159 55.7874 9.992836 99.7701 55.7874 9.490407 99.77673 51.82774 9.772035 99.77673 51.82774 9.772035 99.76676 50.68429 8.848504 99.75561 44.76378 9.269597 99.76676 50.68429 8.848504 99.75561 44.76378 9.269597 99.75797 36.1811 9.880035 99.75797 36.1811 9.880035 99.76216 33.34646 10.08165 99.76216 33.34646 10.08165 99.76345 33.16689 10.09442 99.75453 30.62992 10.27486 99.76345 33.16689 10.09442 99.75453 30.62992 10.27486 99.75764 26.5748 10.56328 99.74392 30.40668 10.29074 99.74392 30.40668 10.29074 99.75764 26.5748 10.56328 99.78682 22.91339 10.82369 99.78682 22.91339 10.82369 121.1589 26.5748 10.56328 121.1811 26.5748 10.98425 121.1811 26.5748 10.98425 121.1589 26.5748 10.56328 121.1811 55.15713 9.535234 121.1811 54.5849 10.07836 121.1811 54.5849 10.07836 121.1811 55.15713 9.535234 121.1811 51.14173 12.45601 121.1811 51.14173 12.45601 121.1811 51.14173 9.820827 121.1811 33.34646 10.51181 121.1811 30.62992 10.3937 121.1811 36.1811 10.15748 121.1811 44.76378 9.527559 121.1811 51.14173 9.173228 121.1811 51.14173 9.173228 121.1811 44.76378 9.527559 121.1811 51.14173 9.820827 121.1811 36.1811 10.15748 121.1811 33.34646 10.51181 121.1811 30.62992 10.3937 99.81159 55.7874 9.992836 99.9942 55.7874 12.20451 99.9942 55.7874 12.20451 99.81159 55.7874 9.992836 99.76813 56.12263 9.466564 99.80783 56.42697 9.947347 99.80783 56.42697 9.947347 99.76813 56.12263 9.466564 99.72441 55.7874 8.937008 99.7701 55.7874 9.490407 99.7701 55.7874 9.490407 99.72441 55.7874 8.937008 99.77101 51.14173 8.815969 99.77101 51.14173 8.815969 121.1262 26.92826 10.53814 121.1262 26.92826 10.53814 121.123 55.7874 9.992836 121.1506 55.7874 9.490407 121.1506 55.7874 9.490407 121.123 55.7874 9.992836 121.1811 52.13663 12.40215 121.1811 54.5849 10.07836 121.1811 54.5849 10.07836 121.1811 52.13663 12.40215 121.1811 55.15713 9.535234 121.1811 51.14173 9.820827 121.1811 55.7874 8.937008 121.1811 55.7874 8.937008 121.1811 55.15713 9.535234 121.1811 51.14173 9.820827 121.1646 30.62992 10.27486 121.1646 30.62992 10.27486 121.1651 30.69878 10.26996 121.1269 33.34646 10.08165 121.1269 33.34646 10.08165 121.1651 30.69878 10.26996 121.1273 33.58865 10.06442 121.1453 36.1811 9.880035 121.1453 36.1811 9.880035 121.1273 33.58865 10.06442 121.1478 44.76378 9.269597 121.1478 44.76378 9.269597 121.1444 45.13532 9.243172 121.1314 51.14173 8.815969 121.1314 51.14173 8.815969 121.1444 45.13532 9.243172 99.80783 56.42697 9.947347 99.98526 57.78729 12.09625 99.98526 57.78729 12.09625 99.80783 56.42697 9.947347 100.0787 58.50394 9.297195 100.0787 58.50394 9.799624 100.0787 58.50394 9.799624 100.0787 58.50394 9.297195 99.76813 56.12263 9.466564 99.76813 56.12263 9.466564 99.7821 55.33361 8.517824 99.7821 55.33361 8.517824 120.9449 57.93213 9.840293 120.9449 58.26518 9.314176 120.9449 58.26518 9.314176 120.9449 57.93213 9.840293 121.0012 55.7874 12.20451 121.123 55.7874 9.992836 121.123 55.7874 9.992836 121.0012 55.7874 12.20451 121.1506 55.7874 9.490407 121.1506 55.7874 9.490407 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110.2787 9.045131 22.60495 109.789 8.534774 22.49154 110.2787 9.045131 22.60495 109.789 8.534774 22.49154 119.9914 66.74674 15.70872 120.1424 66.87025 14.70008 120.1424 66.87025 14.70008 119.9914 66.74674 15.70872 120.3525 63.7946 16.33876 120.3761 64.19978 15.8195 120.3761 64.19978 15.8195 120.3525 63.7946 16.33876 105.6808 8.756021 22.0936 104.9141 7.883573 21.60009 105.6808 8.756021 22.0936 104.9141 7.883573 21.60009 106.3402 8.629453 22.32125 106.2551 9.15559 22.40628 106.3402 8.629453 22.32125 106.2551 9.15559 22.40628 120.0266 67.5051 15.67574 120.1948 68.00225 14.65084 120.1948 68.00225 14.65084 120.0266 67.5051 15.67574 119.9159 66.68498 16.21305 119.9914 66.74674 15.70872 119.9914 66.74674 15.70872 119.9159 66.68498 16.21305 106.0642 9.192244 22.34035 105.6808 8.756021 22.0936 106.0642 9.192244 22.34035 105.6808 8.756021 22.0936 102.3228 8.39561 20.67912 102.5732 9.370079 20.98913 102.1654 9.370079 20.82677 102.5732 9.370079 20.98913 102.3228 8.39561 20.67912 102.1654 9.370079 20.82677 119.8227 68.99605 15.61089 120.0563 69.015 14.60679 120.0563 69.015 14.60679 119.8227 68.99605 15.61089 119.9424 67.25652 16.18819 120.0266 67.5051 15.67574 120.0266 67.5051 15.67574 119.9424 67.25652 16.18819 105.1642 9.370079 22.02049 102.5732 9.370079 20.98913 105.1642 9.370079 22.02049 102.5732 9.370079 20.98913 102.2173 9.444739 20.85484 102.2173 9.444739 20.85484 102.1243 8.693489 20.14335 102.1243 8.693489 20.14335 119.8083 71.17067 15.51631 120.0374 71.8874 14.48186 120.0374 71.8874 14.48186 119.8083 71.17067 15.51631 119.7059 68.98658 16.11294 119.8227 68.99605 15.61089 119.8227 68.99605 15.61089 119.7059 68.98658 16.11294 102.5474 9.919007 21.03317 102.2173 9.444739 20.85484 102.5474 9.919007 21.03317 102.2173 9.444739 20.85484 102.1501 9.456502 20.83369 102.1501 9.456502 20.83369 101.5762 9.370079 18.92641 101.5762 9.370079 18.92641 119.6 72.71027 15.44935 119.9232 72.7309 14.44518 119.9232 72.7309 14.44518 119.6 72.71027 15.44935 119.6938 70.81231 16.03353 119.8083 71.17067 15.51631 119.8083 71.17067 15.51631 119.6938 70.81231 16.03353 102.1501 9.456502 20.83369 102.0535 10.0055 20.87761 102.1501 9.456502 20.83369 102.0535 10.0055 20.87761 100.9996 10.13041 17.55885 101.0551 10.90047 18.23651 101.0551 10.90047 18.23651 100.9996 10.13041 17.55885 119.503 73.92213 15.39664 119.7986 74.28779 14.37746 119.7986 74.28779 14.37746 119.503 73.92213 15.39664 119.4384 72.69995 15.95143 119.6 72.71027 15.44935 119.6 72.71027 15.44935 119.4384 72.69995 15.95143 101.0551 10.90047 18.23651 101.1032 11.25859 18.62375 101.0865 11.33666 18.62035 101.0865 11.33666 18.62035 101.1032 11.25859 18.62375 101.0551 10.90047 18.23651 100.8475 10.35315 17.15822 101.0166 10.95678 18.13524 100.1061 14.29134 16.98693 100.3889 14.29134 17.99021 100.3889 14.29134 17.99021 101.0166 10.95678 18.13524 100.1061 14.29134 16.98693 100.8475 10.35315 17.15822 119.4654 74.58303 15.36789 119.7853 74.52176 14.36728 119.7853 74.52176 14.36728 119.4654 74.58303 15.36789 119.3551 73.7393 15.90623 119.503 73.92213 15.39664 119.503 73.92213 15.39664 119.3551 73.7393 15.90623 101.0166 10.95678 18.13524 100.3889 14.29134 17.99021 100.5302 14.29134 18.49184 100.5302 14.29134 18.49184 100.3889 14.29134 17.99021 101.0166 10.95678 18.13524 100.0923 14.37876 16.98313 100.2325 15.28143 17.94714 100.2325 15.28143 17.94714 100.0923 14.37876 16.98313 119.9606 76.5334 14.27979 119.667 76.8961 15.26729 119.9606 77.28346 14.44882 119.9606 77.28346 14.44882 119.9606 76.5334 14.27979 119.667 76.8961 15.26729 119.3054 74.61366 15.8682 119.4654 74.58303 15.36789 119.4654 74.58303 15.36789 119.3054 74.61366 15.8682 100.2325 15.28143 17.94714 100.3027 15.73276 18.42915 100.3027 15.73276 18.42915 100.2325 15.28143 17.94714 100.0787 16.52539 16.88976 100.2132 18.34646 17.81383 100.0787 18.34646 16.88976 100.0787 18.34646 16.88976 100.2132 18.34646 17.81383 100.0787 16.52539 16.88976 119.6312 77.28346 15.25044 119.6312 77.28346 15.25044 119.667 76.8961 15.26729 119.4832 76.65369 15.77947 119.4832 76.65369 15.77947 119.667 76.8961 15.26729 119.9606 77.28346 14.24717 119.9606 77.28346 14.24717 100.2132 18.34646 17.81383 100.2861 18.34646 18.31547 100.2861 18.34646 18.31547 100.2132 18.34646 17.81383 100.1269 19.27819 17.77331 100.1269 19.27819 17.77331 100.0787 18.27457 16.81369 100.0787 18.27457 16.81369 118.0553 88.81175 14.74903 118.1102 90.19685 14.09449 118.1102 90.19685 14.09449 118.0553 88.81175 14.74903 119.425 77.28346 15.75208 119.6312 77.28346 15.25044 119.6312 77.28346 15.25044 119.425 77.28346 15.75208 118.1102 90.19685 13.68552 118.1102 90.19685 13.68552 100.1531 19.78399 18.25295 100.1269 19.27819 17.77331 100.1269 19.27819 17.77331 100.1531 19.78399 18.25295 100.0071 19.26941 16.77042 99.76194 22.91339 16.61193 99.88233 22.91339 17.6152 99.88233 22.91339 17.6152 99.76194 22.91339 16.61193 100.0071 19.26941 16.77042 100.0727 18.34646 16.81056 100.0727 18.34646 16.81056 118.008 90.19685 14.68879 118.008 90.19685 14.68879 118.0553 88.81175 14.74903 118.009 87.64261 15.30152 118.009 87.64261 15.30152 118.0553 88.81175 14.74903 117.9275 92.31286 13.59348 117.9275 92.31286 13.59348 99.88233 22.91339 17.6152 99.94252 22.91339 18.11684 99.94252 22.91339 18.11684 99.88233 22.91339 17.6152 99.82918 23.99602 17.56811 99.74931 23.17065 16.60074 99.74931 23.17065 16.60074 99.82918 23.99602 17.56811 116.7578 101.9877 14.17596 116.6142 104.3307 13.46457 116.6142 104.3307 13.46457 116.7578 101.9877 14.17596 117.9217 90.19685 15.19043 118.008 90.19685 14.68879 118.008 90.19685 14.68879 117.9217 90.19685 15.19043 116.6541 104.3307 13.07078 116.6541 104.3307 13.07078 99.82918 23.99602 17.56811 99.86912 24.40871 18.0518 99.86912 24.40871 18.0518 99.82918 23.99602 17.56811 99.76579 26.5748 16.45268 99.84167 26.5748 17.45595 99.84167 26.5748 17.45595 99.76579 26.5748 16.45268 116.4872 104.3307 14.07406 116.4872 104.3307 14.07406 116.7578 101.9877 14.17596 116.8759 100.0592 14.76148 116.8759 100.0592 14.76148 116.7578 101.9877 14.17596 116.3368 106.2796 12.98602 116.3368 106.2796 12.98602 99.84167 26.5748 17.45595 99.87961 26.5748 17.95759 99.87961 26.5748 17.95759 99.84167 26.5748 17.45595 99.72441 27.14708 16.42779 99.72441 28.19641 17.38542 99.72441 28.19641 17.38542 99.72441 27.14708 16.42779 115.0394 115.3937 12.83465 115.2895 112.582 13.71518 115.2895 112.582 13.71518 115.0394 115.3937 12.83465 116.3827 104.3307 14.57569 116.4872 104.3307 14.07406 116.4872 104.3307 14.07406 116.3827 104.3307 14.57569 115.0394 115.3937 12.58961 115.0394 115.3937 12.58961 99.72441 28.72107 17.86424 99.72441 28.19641 17.38542 99.72441 28.19641 17.38542 99.72441 28.72107 17.86424 99.72441 51.14173 15.38417 99.72441 51.14173 16.38744 99.72441 51.14173 16.38744 99.72441 51.14173 15.38417 114.9581 115.3937 13.59289 114.9581 115.3937 13.59289 115.2895 112.582 13.71518 115.455 110.7218 14.29772 115.455 110.7218 14.29772 115.2895 112.582 13.71518 113.5433 124.8425 12.17865 113.5433 124.8425 12.59843 113.5433 124.8425 12.59843 113.5433 124.8425 12.17865 99.72441 51.14173 16.38744 99.72441 51.14173 16.88908 99.72441 51.14173 16.88908 99.72441 51.14173 16.38744 99.81373 54.65518 16.23463 99.78426 53.49603 15.28177 99.78426 53.49603 15.28177 99.81373 54.65518 16.23463 113.9054 122.1266 13.30005 113.9054 122.1266 13.30005 114.9044 115.3937 14.09452 114.9581 115.3937 13.59289 114.9581 115.3937 13.59289 114.9044 115.3937 14.09452 112.489 130.9475 11.91312 112.4357 131.256 12.43764 112.4357 131.256 12.43764 112.489 130.9475 11.91312 99.82847 55.23475 16.71106 99.81373 54.65518 16.23463 99.81373 54.65518 16.23463 99.82847 55.23475 16.71106 99.96151 55.7874 15.18211 99.90132 55.7874 16.18539 99.90132 55.7874 16.18539 99.96151 55.7874 15.18211 113.4051 124.8425 13.18192 113.4051 124.8425 13.18192 114.2168 119.7916 13.90324 113.9054 122.1266 13.30005 113.9054 122.1266 13.30005 114.2168 119.7916 13.90324 112.4714 130.3891 12.94068 112.2806 131.5229 12.89137 112.2806 131.5229 12.89137 112.4714 130.3891 12.94068 99.90132 55.7874 16.18539 99.87122 55.7874 16.68702 99.87122 55.7874 16.68702 99.90132 55.7874 16.18539 100.0787 57.76831 16.09923 100.0787 57.09622 15.12519 100.0787 57.09622 15.12519 100.0787 57.76831 16.09923 113.2863 124.8425 13.68356 113.4051 124.8425 13.18192 113.4051 124.8425 13.18192 113.2863 124.8425 13.68356 112.2806 131.5229 12.89137 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.1763 131.7023 13.19641 112.1763 131.7023 13.19641 112.2806 131.5229 12.89137 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.4714 130.3891 12.94068 112.4951 129.5429 13.47912 112.3357 130.6226 13.33777 112.3357 130.6226 13.33777 112.4714 130.3891 12.94068 112.4951 129.5429 13.47912 100.0787 57.76831 16.09923 100.0787 58.10436 16.58625 100.0787 58.10436 16.58625 100.0787 57.76831 16.09923 100.0787 58.50394 15.06396 100.0787 58.50394 16.06723 100.0787 58.50394 16.06723 100.0787 58.50394 15.06396 112.3157 130.7575 13.56724 112.1526 131.8624 13.46876 112.1526 131.8624 13.46876 112.3157 130.7575 13.56724 112.4114 130.1098 13.45446 112.3973 130.2051 13.61649 112.3157 130.7575 13.56724 112.3157 130.7575 13.56724 112.3973 130.2051 13.61649 112.4114 130.1098 13.45446 100.0787 58.50394 16.06723 100.0787 58.50394 16.56887 100.0787 58.50394 16.56887 100.0787 58.50394 16.06723 100.5108 61.69029 15.92865 100.3581 60.56422 14.97435 100.3581 60.56422 14.97435 100.5108 61.69029 15.92865 111.43 131.1359 14.21055 111.3859 132.1899 14.02558 111.43 131.1359 14.21055 111.3859 132.1899 14.02558 111.452 130.6089 14.30304 111.43 131.1359 14.21055 111.452 130.6089 14.30304 111.43 131.1359 14.21055 100.5871 62.25333 16.4058 100.5108 61.69029 15.92865 100.5108 61.69029 15.92865 100.5871 62.25333 16.4058 100.3508 63.14961 14.8619 100.5067 63.14961 15.86518 100.5067 63.14961 15.86518 100.3508 63.14961 14.8619 111.4198 131.3785 14.62313 111.3741 132.4732 14.50726 111.3741 132.4732 14.50726 111.4198 131.3785 14.62313 111.4427 130.8312 14.68106 111.4198 131.3785 14.62313 111.4198 131.3785 14.62313 111.4427 130.8312 14.68106 100.5067 63.14961 15.86518 100.5846 63.14961 16.36681 100.5846 63.14961 16.36681 100.5067 63.14961 15.86518 100.5249 64.37307 14.80869 100.7805 65.07381 15.78149 100.7805 65.07381 15.78149 100.5249 64.37307 14.80869 109.6314 132.4732 14.50726 109.5826 131.3785 14.62313 109.6314 132.4732 14.50726 109.5826 131.3785 14.62313 109.5826 131.3785 14.62313 109.5582 130.8312 14.68106 109.5826 131.3785 14.62313 109.5582 130.8312 14.68106 100.9083 65.42418 16.26788 100.7805 65.07381 15.78149 100.7805 65.07381 15.78149 100.9083 65.42418 16.26788 100.718 66.63556 14.71029 100.9098 66.58951 15.71556 100.9098 66.58951 15.71556 100.718 66.63556 14.71029 108.8369 132.1467 13.95207 108.6543 130.9971 13.97448 108.8369 132.1467 13.95207 108.6543 130.9971 13.97448 108.6543 130.9971 13.97448 108.5631 130.4222 13.98569 108.6543 130.9971 13.97448 108.5631 130.4222 13.98569 100.9098 66.58951 15.71556 101.0058 66.56649 16.2182 101.0058 66.56649 16.2182 100.9098 66.58951 15.71556 101.12 67.83186 15.66153 100.8604 67.47725 14.67368 100.8604 67.47725 14.67368 101.12 67.83186 15.66153 108.7917 131.8624 13.46876 108.6163 130.7575 13.56724 108.7917 131.8624 13.46876 108.6163 130.7575 13.56724 108.6163 130.7575 13.56724 108.5286 130.2051 13.61649 108.6163 130.7575 13.56724 108.5286 130.2051 13.61649 101.2498 68.00917 16.15545 101.12 67.83186 15.66153 101.12 67.83186 15.66153 101.2498 68.00917 16.15545 100.7185 69.02559 14.60633 101.0126 69.00407 15.61054 101.0126 69.00407 15.61054 100.7185 69.02559 14.60633 107.5331 124.8425 13.18192 108.5944 131.4152 12.70827 107.4409 124.8425 12.59843 108.4537 130.3891 12.94068 108.5944 131.4152 12.70827 108.4537 130.3891 12.94068 107.5331 124.8425 13.18192 107.4409 124.8425 12.59843 108.4866 130.1098 13.45446 107.5331 124.8425 13.18192 107.6123 124.8425 13.68356 108.4537 130.3891 12.94068 108.4537 130.3891 12.94068 108.4866 130.1098 13.45446 107.5331 124.8425 13.18192 107.6123 124.8425 13.68356 101.0126 69.00407 15.61054 101.1596 68.99331 16.11265 101.1596 68.99331 16.11265 101.0126 69.00407 15.61054 101.2037 70.49938 15.54551 100.8291 69.89055 14.56871 100.8291 69.89055 14.56871 101.2037 70.49938 15.54551 107.4409 124.8425 12.17865 108.5123 130.9475 11.91312 108.5123 130.9475 11.91312 107.4409 124.8425 12.17865 106.688 119.6817 13.40638 105.8661 115.3937 12.83465 106.688 119.6817 13.40638 105.8661 115.3937 12.83465 107.2317 122.5186 13.78463 106.688 119.6817 13.40638 107.2317 122.5186 13.78463 106.688 119.6817 13.40638 101.3911 70.80379 16.0339 101.2037 70.49938 15.54551 101.2037 70.49938 15.54551 101.3911 70.80379 16.0339 101.0908 72.82418 14.44112 101.4074 72.78287 15.44619 101.4074 72.78287 15.44619 101.0908 72.82418 14.44112 105.8661 115.3937 12.58961 105.8661 115.3937 12.58961 105.988 115.3937 13.59289 105.988 115.3937 13.59289 105.988 115.3937 13.59289 106.0686 115.3937 14.09452 105.988 115.3937 13.59289 106.0686 115.3937 14.09452 101.4074 72.78287 15.44619 101.5658 72.76222 15.94872 101.5658 72.76222 15.94872 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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0 1 2 3 4 5 6 2 1 4 3 7 0 2 8 9 3 5 0 10 1 4 11 5 12 2 6 7 3 13 6 1 14 15 4 7 0 8 10 11 9 5 12 8 2 3 9 13 1 10 16 17 11 4 18 12 6 7 13 19 20 6 14 6 20 18 19 21 7 15 7 21 14 1 22 23 4 15 8 24 10 11 25 9 12 26 8 9 27 13 10 24 16 17 25 11 22 1 16 17 4 23 28 12 18 19 13 29 30 18 20 18 30 31 32 33 19 21 19 33 20 14 34 35 15 21 14 22 36 37 23 15 8 38 24 25 39 9 28 26 12 13 27 29 26 40 8 9 41 27 16 24 42 43 25 17 22 16 44 45 17 23 31 28 18 19 29 32 46 31 30 31 46 47 48 49 32 33 32 49 30 20 50 51 21 33 50 20 34 35 21 51 34 14 36 37 15 35 36 22 44 45 23 37 40 38 8 9 39 41 38 52 24 25 53 39 28 54 26 27 55 29 26 56 40 41 57 27 44 16 42 43 17 45 58 28 31 32 29 59 47 46 60 61 49 48 58 31 47 48 32 59 46 30 62 63 33 49 62 30 50 51 33 63 50 34 64 65 35 51 34 36 66 67 37 35 36 44 68 69 45 37 40 70 38 39 71 41 70 52 38 39 53 71 58 54 28 29 55 59 26 72 56 72 26 54 55 27 73 57 73 27 56 70 40 41 71 57 44 42 74 75 43 45 76 47 60 61 48 77 46 78 60 61 79 49 80 58 47 48 59 81 46 62 78 79 63 49 62 50 82 83 51 63 64 34 84 85 35 65 50 64 86 87 65 51 66 36 88 89 37 67 34 66 84 85 67 35 68 44 90 91 45 69 36 68 88 89 69 37 70 92 52 53 93 71 58 94 54 55 95 59 54 96 72 96 54 94 96 94 97 97 94 98 99 95 100 100 95 101 95 55 101 73 101 55 72 102 56 57 103 73 56 102 70 71 103 57 74 42 104 105 43 75 44 74 90 91 75 45 106 76 60 61 77 107 80 47 76 77 48 81 108 60 78 79 61 109 80 94 58 59 95 81 62 110 78 79 111 63 82 50 86 87 51 83 112 82 86 82 112 62 63 113 83 87 83 113 86 64 84 85 65 87 84 66 88 89 67 85 88 68 90 91 69 89 70 114 92 93 115 71 92 116 52 53 117 93 97 118 96 101 119 100 72 118 120 118 72 96 101 73 119 121 119 73 80 98 94 95 99 81 122 97 98 99 100 123 72 120 102 103 121 73 102 124 70 71 125 103 90 74 104 105 75 91 106 122 76 77 123 107 108 106 60 61 107 109 126 80 76 77 81 127 128 129 130 129 128 131 132 133 134 135 134 133 62 112 110 111 113 63 110 136 78 79 137 111 138 139 140 139 138 141 142 143 144 145 144 143 144 146 147 146 144 145 140 139 148 149 148 139 147 150 151 150 147 146 148 149 152 153 152 149 152 154 155 154 152 153 151 150 156 157 156 150 124 114 70 71 115 125 114 116 92 93 117 115 97 158 118 119 159 100 118 160 120 121 161 119 126 98 80 81 99 127 122 106 97 100 107 123 126 122 98 99 123 127 120 162 102 103 163 121 102 164 124 125 165 103 122 126 76 77 127 123 106 108 158 159 109 107 166 108 167 168 109 169 170 141 138 141 170 171 172 173 142 143 142 173 112 136 110 111 137 113 160 174 175 174 160 118 174 118 176 176 118 158 159 119 177 177 119 178 119 161 178 179 178 161 175 164 162 163 165 179 164 114 124 125 115 165 97 106 158 159 107 100 160 175 120 121 179 161 120 175 162 163 179 121 162 164 102 103 165 163 158 108 166 169 109 159 176 166 167 168 169 177 158 166 176 177 169 159

+ + + + + + + + + + + + + + + + 1 1 1 1 + + + + + + + + + + diff --git a/Tools/simulation/gz/models/plane/model.config b/Tools/simulation/gz/models/plane/model.config new file mode 100644 index 0000000000..d6dcd1db5f --- /dev/null +++ b/Tools/simulation/gz/models/plane/model.config @@ -0,0 +1,15 @@ + + + Plane + 1.0 + model.sdf + + + Benjamin Perseghetti + bperseghetti@rudislabs.com + + + + This is a model of a standard plane. + + diff --git a/Tools/simulation/gz/models/plane/model.sdf b/Tools/simulation/gz/models/plane/model.sdf new file mode 100644 index 0000000000..fa358d8072 --- /dev/null +++ b/Tools/simulation/gz/models/plane/model.sdf @@ -0,0 +1,596 @@ + + + + 0 0 0.246 0 0 0 + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 1.5 + + 0.197563 + 0 + 0 + 0.1458929 + 0 + 0.1477 + + + + 0 0 -0.07 0 0 0 + + + 0.47 0.47 0.11 + + + + + + 10 + 0.01 + + + + + + 0.07 0 -0.08 0 0 0 + + + 0.1 0.1 0.1 + model://plane/meshes/body.dae + + + + .175 .175 .175 1.0 + .175 .175 .175 1.0 + + + 1 + + 0 + + 1 + 250 + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.015 + + 1e-05 + 0 + 0 + 1e-05 + 0 + 1e-05 + + + + + + 0.01 + 0.1 + + + + 0 0 0 1.0 + 0 0 0 1.0 + + + + + + airspeed + base_link + + + 0.22 0 0.0 0 1.57 0 + + 0 0 0 0 0 0 + 0.005 + + 9.75e-07 + 0 + 0 + 0.000166704 + 0 + 0.000167604 + + + + 0.0 0 0 0 0 0 + + + 0.005 0.22 0.02 + + + + + + + + + + + + + + 0 0 0 0.0 0 0.0 + + + 1 1 1 + model://plane/meshes/iris_prop_ccw.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + 1 + + 0 + + + rotor_puller + base_link + + 0 0 1 + + -1e+16 + 1e+16 + + + 0 + 0 + + 1 + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + 0 0.3 0 0.00 0 0.0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/left_aileron.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + 0 -0.3 0 0.00 0 0.0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/right_aileron.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + 0 0.15 0 0.00 0 0.0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/left_flap.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + 0 -0.15 0 0.00 0 0.0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/right_flap.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + -0.5 0 0 0.00 0 0.0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/elevators.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + + 0.00000001 + + 0.000001 + 0.0 + 0.000001 + 0.0 + 0.0 + 0.000001 + + -0.5 0 0.05 0 0 0 + + + 0.07 0.0 -0.08 0.00 0 0.0 + + + 0.1 0.1 0.1 + model://plane/meshes/rudder.dae + + + + 0 0 1 1.0 + 0 0 1 1.0 + + + + + base_link + left_elevon + -0.07 0.4 0.08 0.00 0 0.0 + + 0 1 0 + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + base_link + right_elevon + -0.07 -0.4 0.08 0.00 0 0.0 + + 0 1 0 + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + base_link + left_flap + -0.07 0.2 0.08 0.00 0 0.0 + + 0 1 0 + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + base_link + right_flap + -0.07 -0.2 0.08 0.00 0 0.0 + + 0 1 0 + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + base_link + elevator + -0.5 0 0 0 0 0 + + 0 1 0 + + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + base_link + rudder + -0.5 0 0.05 0.00 0 0.0 + + 0 0 1 + + -0.53 + 0.53 + + + 1.000 + + + + + 1 + + + + + 0.05984281113 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.05 0.45 0.05 + 0.6 + 1.2041 + 1 0 0 + 0 0 1 + base_link + px4_servo_0 + -0.3 + + + px4_servo_0 + + + 0.05984281113 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.05 -0.45 0.05 + 0.6 + 1.2041 + 1 0 0 + 0 0 1 + base_link + px4_servo_1 + -0.3 + + + px4_servo_1 + + + 0.05984281113 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.05 0.15 0.05 + 0.6 + 1.2041 + 1 0 0 + 0 0 1 + base_link + left_flap_joint + -0.1 + + + 0.05984281113 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.05 -0.15 0.05 + 0.6 + 1.2041 + 1 0 0 + 0 0 1 + base_link + right_flap_joint + -0.1 + + + -0.2 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.5 0 0 + 0.01 + 1.2041 + 1 0 0 + 0 0 1 + base_link + px4_servo_2 + -4.0 + + + px4_servo_2 + + + 0.0 + 4.752798721 + 0.6417112299 + 0.0 + 0.3391428111 + -3.85 + -0.9233984055 + 0 + -0.5 0 0.05 + 0.02 + 1.2041 + 1 0 0 + 0 1 0 + base_link + rudder_joint + 0.8 + + + rudder_joint + + + rotor_puller_joint + rotor_puller + cw + 0.0125 + 0.025 + 1000 + 2.44858e-05 + 0.016 + command/motor_speed + 3 + 8.06428e-05 + 1e-06 + 10 + velocity + + 0 + + diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp index 783bd460fb..996272ef26 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp @@ -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(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(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() diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp index d9e59a0222..881072a078 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp @@ -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 _servos_pub; };