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Multi-Vehicle Ignition Gazebo Simulation (#20154)

This commit is contained in:
Benjamin Perseghetti 2022-09-04 21:10:29 -04:00 committed by GitHub
parent 7bbdc220f5
commit a56f654651
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GPG Key ID: 4AEE18F83AFDEB23
54 changed files with 727 additions and 18221 deletions
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80
ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
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@ -1,80 +0,0 @@
#!/bin/sh
#
# @name Ignition Gazebo X4
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY -0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX 0.00
param set-default CA_ROTOR1_PY -0.29
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0.00
param set-default CA_ROTOR4_PY 0.29
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX 0.25
param set-default CA_ROTOR5_PY 0.15
param set-default CA_ROTOR5_KM -0.05
param set-default SIM_IGN_FUNC1 101
param set-default SIM_IGN_FUNC2 102
param set-default SIM_IGN_FUNC3 103
param set-default SIM_IGN_FUNC4 104
param set-default SIM_IGN_FUNC5 105
param set-default SIM_IGN_FUNC6 106
param set-default SIM_IGN_MIN1 150
param set-default SIM_IGN_MIN2 150
param set-default SIM_IGN_MIN3 150
param set-default SIM_IGN_MIN4 150
param set-default SIM_IGN_MIN5 150
param set-default SIM_IGN_MIN6 150
param set-default SIM_IGN_MAX1 1000
param set-default SIM_IGN_MAX2 1000
param set-default SIM_IGN_MAX3 1000
param set-default SIM_IGN_MAX4 1000
param set-default SIM_IGN_MAX5 1000
param set-default SIM_IGN_MAX6 1000
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_I 0.2500
param set-default MC_PITCHRATE_P 0.1831
param set-default MC_PITCH_P 5.216
param set-default MC_ROLLRATE_D 0.0022
param set-default MC_ROLLRATE_I 0.2095
param set-default MC_ROLLRATE_P 0.1570
param set-default MC_ROLL_P 6.081
param set-default MC_YAWRATE_D 0.0009
param set-default MC_YAWRATE_I 0.1800
param set-default MC_YAWRATE_P 0.1773
param set-default MC_YAW_P 5.386490
param set-default MPC_THR_HOVER 0.61

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
View File

@ -79,7 +79,6 @@ px4_add_romfs_files(
17002_tf-g2
2507_cloudship
6001_x4
6011_typhoon_h480
6011_typhoon_h480.post
)

40
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -20,7 +20,10 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
. ../gazebo_env.sh
fi
if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
if [ -z $ign_world ]; then
# starting ign gazebo with ${PX4_SIM_WORLD} world
echo "INFO [init] starting ign gazebo"
@ -31,16 +34,37 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
fi
else
echo "INFO [init] ign gazebo already running"
echo "INFO [init] ign gazebo already running world: $ign_world"
PX4_SIM_WORLD=$ign_world
fi
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
if [ -z $PX4_IGN_MODEL_POSE ]; then
# start ignition bridge without pose arg.
echo "WARN [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
# Clean potential input line formatting.
model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
# start ignition bridge with pose arg.
if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
else
echo "ERROR [init] ign gazebo failed to start"
exit 1
fi
fi
else

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Tools/simulation/ignition/models/x4/materials/textures/led.jpg
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Tools/simulation/ignition/models/x4/materials/textures/spotlight.jpg
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529
Tools/simulation/ignition/models/x4/meshes/led.dae
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<specular>0.8 0.8 0.5 1</specular>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1.1</outer_angle>
<falloff>1</falloff>
</spot>
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<light name="downward_flashlight_source" type="spot">
<pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
<attenuation>
<range>15</range>
<linear>0</linear>
<constant>0.1</constant>
<quadratic>0.01</quadratic>
</attenuation>
<diffuse>0.8 0.8 0.5 1</diffuse>
<specular>0.8 0.8 0.5 1</specular>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1.1</outer_angle>
<falloff>1</falloff>
</spot>
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<light name="left_flashlight_source" type="spot">
<pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
<attenuation>
<range>15</range>
<linear>0</linear>
<constant>0.1</constant>
<quadratic>0.01</quadratic>
</attenuation>
<diffuse>0.8 0.8 0.5 1</diffuse>
<specular>0.8 0.8 0.5 1</specular>
<spot>
<inner_angle>1</inner_angle>
<outer_angle>1.1</outer_angle>
<falloff>1</falloff>
</spot>
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.009</stddev>
<bias_mean>0.00075</bias_mean>
<bias_stddev>0.005</bias_stddev>
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
<precision>0.00025</precision>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.021</stddev>
<bias_mean>0.05</bias_mean>
<bias_stddev>0.0075</bias_stddev>
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
<precision>0.005</precision>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
<visual name="camera_mount_base_visual">
<pose>0.05 0 -0.030 0 0.0 0</pose>
<geometry>
<box>
<size>0.06 0.06 0.006</size>
</box>
</geometry>
</visual>
<visual name="camera_mount_arm_visual">
<pose>0.08 0 -0.040 0 0.0 0</pose>
<geometry>
<cylinder>
<radius>0.005</radius>
<length>0.08</length>
</cylinder>
</geometry>
</visual>
<visual name="camera_mount_arm2_visual">
<pose>0.08 0 -0.08 0 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.025</length>
</cylinder>
</geometry>
</visual>
<visual name="camera_visual">
<pose>0.1 0 -0.08 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.025 0.025</size>
</box>
</geometry>
</visual>
<sensor name="camera_front" type="rgbd_camera">
<pose>0.2 0 0 0 +.785 0</pose>
<always_on>1</always_on>
<update_rate>20</update_rate>
<camera name="camera_front">
<horizontal_fov>1.0472</horizontal_fov>
<lens>
<intrinsics>
<!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
<fx>277.1</fx>
<fy>277.1</fy>
<!-- cx = ( width + 1 ) / 2 -->
<cx>160.5</cx>
<!-- cy = ( height + 1 ) / 2 -->
<cy>120.5</cy>
<s>0</s>
</intrinsics>
</lens>
<distortion>
<k1>0.0</k1>
<k2>0.0</k2>
<k3>0.0</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>0.5 0.5</center>
</distortion>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.01</near>
<far>300</far>
</clip>
<depth_camera>
<clip>
<near>0.1</near>
<far>10</far>
</clip>
</depth_camera>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
</sensor>
</link>
<link name="rotor_0">
<pose frame="">0.247 0.1506 0.028 0.087267 0 0.523599</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_0_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_0_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1 0 0 1</diffuse>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_0_joint" type="revolute">
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0.043578 -0.075479 0.996195</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="rotor_1">
<pose frame="">-0.00067 0.28929 0.028 0 -0.087267 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_1_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_1_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_1_joint" type="revolute">
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>-0.087156 0 0.996195</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="rotor_2">
<pose frame="">-0.2501 0.1454 0.028 0.087267 -0 2.61799</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_2_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_2_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_2_joint" type="revolute">
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0.043578 0.075479 0.996195</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="rotor_3">
<pose frame="">-0.2501 -0.1454 0.028 -0.087267 -0 -2.61799</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_3_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_3_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_3_joint" type="revolute">
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0.043578 -0.075479 0.996195</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="rotor_4">
<pose frame="">-0.00067 -0.28929 0.028 -0 0.087267 -3.14159</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_4_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_4_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_4_joint" type="revolute">
<child>rotor_4</child>
<parent>base_link</parent>
<axis>
<xyz>-0.087156 -0 0.996195</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="rotor_5">
<pose frame="">0.247 -0.1506 0.028 -0.087267 0 -0.523599</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.13545e-05</iyy>
<iyz>0</iyz>
<izz>8.22545e-05</izz>
</inertia>
</inertial>
<collision name="rotor_5_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1397</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_5_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1 0 0 1</diffuse>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
<cast_shadows>0</cast_shadows>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_5_joint" type="revolute">
<child>rotor_5</child>
<parent>base_link</parent>
<axis>
<xyz>0.043578 0.075479 0.996195</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>
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_4_joint</jointName>
<linkName>rotor_4</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>4</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x4</robotNamespace>
<jointName>rotor_5_joint</jointName>
<linkName>rotor_5</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>5</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>
<odom_frame>x4/odom</odom_frame>
<robot_base_frame>x4/base_footprint</robot_base_frame>
</plugin>
</model>
</sdf>

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<?xml version="1.0"?>
<model>
<name>x500-Base</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
</model>

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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-Base'>
<pose>0 0 .24 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="base_link">
<inertial>
<mass>2.0</mass>
<inertia>
<ixx>0.02166666666666667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.02166666666666667</iyy>
<iyz>0</iyz>
<izz>0.04000000000000001</izz>
</inertia>
</inertial>
<gravity>true</gravity>
<velocity_decay/>
<visual name="base_link_visual">
<pose>0 0 .025 0 0 3.141592654</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/NXP-HGD-CF.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_0">
<pose>0.174 0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_1">
<pose>-0.174 0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_2">
<pose>0.174 -0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_3">
<pose>-0.174 -0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="NXP_FMUK66_FRONT">
<pose>0.047 .001 .043 1 0 1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.013 .007</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<visual name="NXP_FMUK66_TOP">
<pose>-0.023 0 .0515 0 0 -1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.013 .007</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<visual name="RDDRONE_FMUK66_TOP">
<pose>-.03 0 .0515 0 0 -1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.032 .0034</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<collision name="base_link_collision_0">
<pose>0 0 .007 0 0 0</pose>
<geometry>
<box>
<size>0.35355339059327373 0.35355339059327373 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_1">
<pose>0 -0.098 -.123 -0.35 0 0</pose>
<geometry>
<box>
<size>0.015 0.015 0.21</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_2">
<pose>0 0.098 -.123 0.35 0 0</pose>
<geometry>
<box>
<size>0.015 0.015 0.21</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_3">
<pose>0 -0.132 -.2195 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.015 0.015</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_4">
<pose>0 0.132 -.2195 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.015 0.015</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="rotor_0">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.174 -0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_0_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_0_visual_motor_bell">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_0_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_0_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_0</child>
<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="rotor_1">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.174 0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_1_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_1_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_1_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_1_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_1</child>
<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="rotor_2">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.174 0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_2_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_2_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_2_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_2_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_2</child>
<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="rotor_3">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.174 -0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_3_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_3_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_3_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_3_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_3</child>
<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>
</sdf>

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<?xml version="1.0"?>
<model>
<name>x500-Depth</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
</model>

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<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-Depth'>
<include merge='true'>
<uri>model://x500-Base</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/x500-Depth</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/x500-Depth</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/x500-Depth</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/x500-Depth</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</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>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
<pose>.12 .03 .242 0 0 0</pose>
</include>
<joint name="CameraJoint" type="fixed">
<parent>base_link</parent>
<child>OakD-Lite/base_link</child>
<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
</joint>
</model>
</sdf>

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2
Tools/simulation/ignition/models/x500/model.config
View File

@ -2,7 +2,7 @@
<model>
<name>x500</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>

527
Tools/simulation/ignition/models/x500/model.sdf
View File

@ -1,520 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.6'>
<sdf version='1.9'>
<model name='x500'>
<pose>0 0 .24 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="base_link">
<inertial>
<mass>2.0</mass>
<inertia>
<ixx>0.02166666666666667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.02166666666666667</iyy>
<iyz>0</iyz>
<izz>0.04000000000000001</izz>
</inertia>
</inertial>
<gravity>true</gravity>
<velocity_decay/>
<visual name="base_link_visual">
<pose>0 0 .025 0 0 3.141592654</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/NXP-HGD-CF.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_0">
<pose>0.174 0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_1">
<pose>-0.174 0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_2">
<pose>0.174 -0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="5010_motor_base_3">
<pose>-0.174 -0.174 .032 0 0 -.45</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Base.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="NXP_FMUK66_FRONT">
<pose>0.047 .001 .043 1 0 1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.013 .007</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<visual name="NXP_FMUK66_TOP">
<pose>-0.023 0 .0515 0 0 -1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.013 .007</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<visual name="RDDRONE_FMUK66_TOP">
<pose>-.03 0 .0515 0 0 -1.57</pose>
<cast_shadows>false</cast_shadows>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>.032 .0034</size>
</plane>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>model://x500/materials/textures/rd.png</albedo_map>
</metal>
</pbr>
</material>
</visual>
<collision name="base_link_collision_0">
<pose>0 0 .007 0 0 0</pose>
<geometry>
<box>
<size>0.35355339059327373 0.35355339059327373 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_1">
<pose>0 -0.098 -.123 -0.35 0 0</pose>
<geometry>
<box>
<size>0.015 0.015 0.21</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_2">
<pose>0 0.098 -.123 0.35 0 0</pose>
<geometry>
<box>
<size>0.015 0.015 0.21</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_3">
<pose>0 -0.132 -.2195 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.015 0.015</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<collision name="base_link_collision_4">
<pose>0 0.132 -.2195 0 0 0</pose>
<geometry>
<box>
<size>0.25 0.015 0.015</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="rotor_0">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.174 -0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_0_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500/meshes/1345_prop_ccw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_0_visual_motor_bell">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_0_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_0_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_0</child>
<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="rotor_1">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.174 0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_1_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500/meshes/1345_prop_ccw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_1_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_1_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_1_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_1</child>
<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="rotor_2">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.174 0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_2_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500/meshes/1345_prop_cw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_2_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_2_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_2_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_2</child>
<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="rotor_3">
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.174 -0.174 0.06 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
<ixx>3.8464910483993325e-07</ixx>
<iyy>2.6115851691700804e-05</iyy>
<izz>2.649858234714004e-05</izz>
</inertia>
</inertial>
<visual name="rotor_3_visual">
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
<geometry>
<mesh>
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
<uri>model://x500/meshes/1345_prop_cw.stl</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<visual name="rotor_3_visual_motor_top">
<pose>0 0 -.032 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://x500/meshes/5010Bell.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="rotor_3_collision">
<pose>0 0 0 0 0 0 </pose>
<geometry>
<box>
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>
<joint name="rotor_3_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_3</child>
<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>
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
<include merge='true'>
<uri>model://x500-Base</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x500</robotNamespace>
<robotNamespace>model/x500</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
@ -531,7 +22,7 @@
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x500</robotNamespace>
<robotNamespace>model/x500</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
@ -548,7 +39,7 @@
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x500</robotNamespace>
<robotNamespace>model/x500</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
@ -565,7 +56,7 @@
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x500</robotNamespace>
<robotNamespace>model/x500</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
@ -582,4 +73,4 @@
<motorType>velocity</motorType>
</plugin>
</model>
</sdf>
</sdf>

1
Tools/simulation/ignition/worlds/default.sdf
View File

@ -9,6 +9,7 @@
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>

70
src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
View File

@ -7,14 +7,14 @@
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
@ -42,10 +42,11 @@
#include <iostream>
#include <string>
SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model) :
SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str) :
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_world_name(world),
_model_name(model)
_model_name(model),
_model_pose(pose_str)
{
pthread_mutex_init(&_mutex, nullptr);
@ -72,7 +73,40 @@ int SimulatorIgnitionBridge::init()
// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
// /world/$WORLD/create service.
if (!_model_pose.empty()) {
PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
std::vector<float> model_pose_v;
std::stringstream ss(_model_pose);
while (ss.good()) {
std::string substr;
std::getline(ss, substr, ',');
model_pose_v.push_back(std::stof(substr));
}
while (model_pose_v.size() < 6) {
model_pose_v.push_back(0.0);
}
ignition::msgs::Pose *p = req.mutable_pose();
ignition::msgs::Vector3d *position = p->mutable_position();
position->set_x(model_pose_v[0]);
position->set_y(model_pose_v[1]);
position->set_z(model_pose_v[2]);
ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
q.Normalize();
ignition::msgs::Quaternion *orientation = p->mutable_orientation();
orientation->set_x(q.X());
orientation->set_y(q.Y());
orientation->set_z(q.Z());
orientation->set_w(q.W());
}
//world/$WORLD/create service.
ignition::msgs::Boolean rep;
bool result;
std::string create_service = "/world/" + _world_name + "/create";
@ -118,7 +152,7 @@ int SimulatorIgnitionBridge::init()
}
// output eg /X3/command/motor_speed
std::string actuator_topic = _model_name + "/command/motor_speed";
std::string actuator_topic = "model/" + _model_name + "/command/motor_speed";
_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
if (!_actuators_pub.Valid()) {
@ -134,13 +168,15 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
{
const char *world_name = "default";
const char *model_name = nullptr;
const char *model_pose = nullptr;
bool error_flag = false;
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "w:m:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "w:m:p:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'w':
// world
@ -152,6 +188,11 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
model_name = myoptarg;
break;
case 'p':
// pose
model_pose = myoptarg;
break;
case '?':
error_flag = true;
break;
@ -169,7 +210,11 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
PX4_INFO("world: %s, model: %s", world_name, model_name);
SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name);
if (!model_pose) {
model_pose = "";
}
SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_pose);
if (instance) {
_object.store(instance);
@ -466,6 +511,7 @@ int SimulatorIgnitionBridge::print_usage(const char *reason)
PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, nullptr, "Model Pose", false);
PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

5
src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
View File

@ -54,7 +54,7 @@
#include <ignition/msgs.hh>
#include <ignition/transport.hh>
#include <ignition/math.hh>
#include <ignition/msgs/imu.pb.h>
using namespace time_literals;
@ -62,7 +62,7 @@ using namespace time_literals;
class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
{
public:
SimulatorIgnitionBridge(const char *world, const char *model);
SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str);
~SimulatorIgnitionBridge() override;
/** @see ModuleBase */
@ -118,6 +118,7 @@ private:
const std::string _world_name;
const std::string _model_name;
const std::string _model_pose;
MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};