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oscillation_ctrl
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Added world and drone models to repo

This commit is contained in:
cesar 2022-03-04 13:29:37 -04:00
parent 30fd69b4ec
commit 859cd81e4e
45 changed files with 30729 additions and 5 deletions
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.gitignore vendored
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models
citadel_hill_world.world

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airframes/4000_spiri Normal file
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#!/bin/sh
#
# @name Generic Quadcopter
#
# @type Quadrotor x
# @class Copter
. ${R}etc/init.d/rc.mc_defaults
param set-default MC_ROLLRATE_K 2.35
param set-default MC_ROLLRATE_D 0.0032
param set-default MC_ROLLRATE_I 0.15
param set-default MC_PITCHRATE_K 2.35
param set-default MC_PITCHRATE_D 0.0032
param set-default MC_PITCHRATE_I 0.15
#param load spiri_param/Vehicle_230_Parameters.params
param set-default MPC_Z_VEL_MAX_UP 1.0
set MIXER quad_x
set PWM_OUT 1234

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

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

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<?xml version="1.0" ?>
<sdf version='1.6'>
<model name='spiri'>
<link name='base'>
<pose frame=''>0 0 0 0 -0 -0</pose>
<inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
<mass>1.437</mass>
<inertia>
<ixx>0.1152</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1152</iyy>
<iyz>0</iyz>
<izz>0.218</izz>
<!-- <ixx>0.003252814</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.003252814</iyy>
<iyz>0</iyz>
<izz>0.032498525</izz> -->
</inertia><!-- x= 0.032498525 y=0.003252814 z=0.031612672 -->
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 -0.02103 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.04206</size>
</box>
</geometry>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_bottom.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_top_collision_1'>
<pose frame=''>0 0 0.03025 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.0605</size>
</box>
</geometry>
</collision>
<visual name='base_top_visual_1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LF_collision_2'>
<pose frame=''>0.112711 0.112711 -0.001 0 -0 0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LF_visual_2'>
<pose frame=''>0.042 0.042 -0.001 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LH_collision_3'>
<pose frame=''>-0.112711 0.112711 -0.001 0 -0 2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LH_visual_3'>
<pose frame=''>-0.042 0.042 -0.001 0 -0 2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RF_collision_4'>
<pose frame=''>0.112711 -0.112711 -0.001 0 0 -0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RF_visual_4'>
<pose frame=''>0.042 -0.042 -0.001 0 0 -0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RH_collision_5'>
<pose frame=''>-0.112711 -0.112711 -0.001 0 0 -2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RH_visual_5'>
<pose frame=''>-0.042 -0.042 -0.001 0 0 -2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='imu_joint' type='revolute'>
<child>imu_link</child>
<parent>base</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LF'>
<pose frame=''>0.165037 0.165037 0.042 0 -0 0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LF_to_propeller_LF' type='revolute'>
<child>propeller_LF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LH'>
<pose frame=''>-0.165037 0.165037 0.042 0 -0 2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LH_to_propeller_LH' type='revolute'>
<child>propeller_LH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RF'>
<pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RF_to_propeller_RF' type='revolute'>
<child>propeller_RF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RH'>
<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RH_to_propeller_RH' type='revolute'>
<child>propeller_RH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<model name='gps0'>
<link name='link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>2.1733e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.1733e-06</iyy>
<iyz>0</iyz>
<izz>1.8e-07</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<sensor name='gps' type='gps'>
<pose>0 0 0 0 0 0</pose>
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
<robotNamespace/>
<gpsNoise>1</gpsNoise>
<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
<gpsZRandomWalk>4.0</gpsZRandomWalk>
<gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
<gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
</plugin>
</sensor>
</link>
</model>
<joint name='gps0_joint' type='fixed'>
<parent>base</parent>
<child>gps0::link</child>
</joint>
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
<robotNamespace/>
<linkName>base</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_RF_to_propeller_RF</jointName>
<linkName>propeller_RF</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_LH_to_propeller_LH</jointName>
<linkName>propeller_LH</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_LF_to_propeller_LF</jointName>
<linkName>propeller_LF</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_RH_to_propeller_RH</jointName>
<linkName>propeller_RH</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
<baroDriftPaPerSec>0</baroDriftPaPerSec>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace/>
<imuSubTopic>/imu</imuSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<mavlink_udp_port>14560</mavlink_udp_port>
<serialEnabled>0</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>0</hil_mode>
<hil_state_level>0</hil_state_level>
<send_vision_estimation>0</send_vision_estimation>
<send_odometry>1</send_odometry>
<enable_lockstep>1</enable_lockstep>
<use_tcp>1</use_tcp> <!--This needs to be set to 1-->
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name='rotor1'>
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor2'>
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor3'>
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor4'>
<input_index>3</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor5'>
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>324.6</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
</joint_control_pid>
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
</channel>
<channel name='rotor6'>
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor7'>
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor8'>
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
</channel>
</control_channels>
</plugin>
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace/>
<linkName>imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
</model>
</sdf>

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models/spiri/spiri.sdf Normal file
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@ -0,0 +1,634 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<model name='spiri'>
<link name='base'>
<pose frame=''>0 0 0 0 -0 3.141</pose>
<gravity>1</gravity>
<inertial>
<pose frame=''>0 0.00268 -0.000742 0 -0 0</pose>
<mass>1.437</mass>
<inertia>
<ixx>0.1152</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1152</iyy>
<iyz>0</iyz>
<izz>0.218</izz>
<!-- <ixx>0.003252814</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.003252814</iyy>
<iyz>0</iyz>
<izz>0.032498525</izz> -->
</inertia><!-- x= 0.032498525 y=0.003252814 z=0.031612672 -->
</inertial>
<collision name='base_collision'>
<pose frame=''>0 0 -0.02103 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.04206</size>
</box>
</geometry>
</collision>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_bottom.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_top_collision_1'>
<pose frame=''>0 0 0.03025 0 -0 0</pose>
<geometry>
<box>
<size>0.21355 0.132 0.0605</size>
</box>
</geometry>
</collision>
<visual name='base_top_visual_1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_base_top.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LF_collision_2'>
<pose frame=''>0.112711 0.112711 -0.001 0 -0 0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LF_visual_2'>
<pose frame=''>0.042 0.042 -0.001 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_LH_collision_3'>
<pose frame=''>-0.112711 0.112711 -0.001 0 -0 2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_LH_visual_3'>
<pose frame=''>-0.042 0.042 -0.001 0 -0 2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RF_collision_4'>
<pose frame=''>0.112711 -0.112711 -0.001 0 0 -0.785398</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RF_visual_4'>
<pose frame=''>0.042 -0.042 -0.001 0 0 -0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='base_fixed_joint_lump__shank_RH_collision_5'>
<pose frame=''>-0.112711 -0.112711 -0.001 0 0 -2.35619</pose>
<geometry>
<box>
<size>0.2 0.014 0.11</size>
</box>
</geometry>
</collision>
<visual name='base_fixed_joint_lump__shank_RH_visual_5'>
<pose frame=''>-0.042 -0.042 -0.001 0 0 -2.35619</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_shank.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='imu_joint' type='revolute'>
<child>imu_link</child>
<parent>base</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LF'>
<pose frame=''>0.165037 0.165037 0.042 0 -0 0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LF_to_propeller_LF' type='revolute'>
<child>propeller_LF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_LH'>
<pose frame=''>-0.165037 0.165037 0.042 0 -0 2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_LH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_LH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_LH_to_propeller_LH' type='revolute'>
<child>propeller_LH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RF'>
<pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RF_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RF_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RF_to_propeller_RF' type='revolute'>
<child>propeller_RF</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='propeller_RH'>
<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.0005299083</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0005235333</iyy>
<iyz>0</iyz>
<izz>0.000011775</izz>
</inertia>
</inertial>
<collision name='propeller_RH_collision'>
<pose frame=''>0 0 0.009 0 -0 0</pose>
<geometry>
<box>
<size>0.033 0.25 0.018</size>
</box>
</geometry>
</collision>
<visual name='propeller_RH_visual'>
<pose frame=''>0 0 0 0 -0 0.785398</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://spiri/meshes/spiri_propeller.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='shank_RH_to_propeller_RH' type='revolute'>
<child>propeller_RH</child>
<parent>base</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<model name='gps0'>
<self_collide>0</self_collide>
<link name='gps0_link'>
<pose>0 0 0.01 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>2.1733e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2.1733e-06</iyy>
<iyz>0</iyz>
<izz>1.8e-07</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<sensor name='gps' type='gps'>
<pose>0 0 0 0 0 0</pose>
<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
<robotNamespace/>
<gpsNoise>1</gpsNoise>
<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
<gpsZRandomWalk>4.0</gpsZRandomWalk>
<gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
<gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
</plugin>
</sensor>
</link>
<joint name='gps0_joint' type='fixed'>
<parent>base</parent>
<child>gps0_link</child>
</joint>
</model>
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
<robotNamespace/>
<linkName>base</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_RF_to_propeller_RF</jointName>
<linkName>propeller_RF</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_LH_to_propeller_LH</jointName>
<linkName>propeller_LH</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_LF_to_propeller_LF</jointName>
<linkName>propeller_LF</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace/>
<jointName>shank_RH_to_propeller_RH</jointName>
<linkName>propeller_RH</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>5.84e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
<baroDriftPaPerSec>0</baroDriftPaPerSec>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace/>
<imuSubTopic>/imu</imuSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<mavlink_udp_port>14560</mavlink_udp_port>
<serialEnabled>0</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>0</hil_mode>
<hil_state_level>0</hil_state_level>
<send_vision_estimation>0</send_vision_estimation>
<send_odometry>1</send_odometry>
<enable_lockstep>1</enable_lockstep>
<use_tcp>1</use_tcp> <!--This needs to be set to 1-->
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name='rotor1'>
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor2'>
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor3'>
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor4'>
<input_index>3</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name='rotor5'>
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>324.6</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
</joint_control_pid>
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
</channel>
<channel name='rotor6'>
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor7'>
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name='rotor8'>
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
</channel>
</control_channels>
</plugin>
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace/>
<linkName>imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
</model>
</sdf>

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

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{#--------------------------------SDF generator for Spiri with Tether Gazebo model---------------------------#}
{#------------------------------Retrieved from:https://github.com/RigidWing/sitl_gazebo----------------------#}
{#---------------------------------Maintained by Kitepower BV: info@kitepower.nl-----------------------------#}
{#--------------------------------The parameters bellow are the ones to be tweaked---------------------------#}
{#--------------------------------------------:Tweakable parameters:-----------------------------------------#}
{%- set number_elements = 1 -%}
{%- set tl = 1 -%} {#- tl: length of the tether element (meters) -#}
{%- set cr = 0.005 -%} {#- cr: radius of the tether element (meters) -#}
{%- set cr_v = 0.005 -%} {#- cr_v: radius of the tether element visual (meters) -#}
{%- set sr = 0.01 -%} {#- sr: element joint radius (sphere) (meters) -#}
{%- set m = 0.005 * tl -%} {#- m: mass of the element (kg), given the length -#}
{%- set cda = 1.253582 -%} {#- cda: the ratio of the drag coefficient before stall. -#}
{%- set cda_stall = 1.4326647564469914 -%} {#- cda_stall: the ratio of the drag coefficient after stall. -#}
{%- set damping = 0.05 -%} {#- Model damping -#}
{%- set friction = 0.0 -%} {#- Friction of the model relative to the world -#}
{%- set tether_stiffness = 0.05 -%} {#- Tether stiffness -#}
{%- set joint_stiffness = 0.05 -%} {#- Joint stiffness, i.e where tether attaches to drone -#}
{%- set spring_reference = 0.0 -%} {#- Reference where the spring forces are applied -#}
{%- set element_color = 'White' -%} {#- Color of the tether elements -#}
{%- set joint_color = 'Red' -%} {#- Color of the tether element joints -#}
{%- set vehicle_spawn_point_y = 0.0 -%} {#- Y coordinate of vehicle spawn point -#}
{%- set debug = 0 -%} {#- Used for debugging tether joints -#}
{#----------------------------------------------------------------------------------------------------------#}
{#---------------------------------------------:Payload parameters:-----------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- set payload_m = 0.5 -%} {#- Payload mass (kg) -#}
{%- set pr = 0.025 -%} {#- Payload radius (meters). Has to be less than FULL tether length -#}
{#-----------------------------------------------------------------------------------------------------------#}
{#----------------------------------------------:Spiri parameters:-------------------------------------------#}
{#-----------------------------------------------------------------------------------------------------------#}
{%- set spiri_collision_x = 0.21355 -%}
{%- set spiri_collision_y = 0.132 -%}
{%- set spiri_collision_z = 0.04206 -%}
{%- set theta = 1.5707 -%}
{%- set yaw = 0 -%} {#- Necessary to spawn magnometer and Spiri in correct orientation -#}
{#----------------------------------------------------------------------------------------------------------#}
{#---------------------------------------------:Computed parameters:----------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- set last_elem = number_elements |int - 1 -%}
{%- set full_tether_len = number_elements * tl -%}
{%- set vehicle_spawn_point_x = full_tether_len -%}
{#- Check if we are in debug mode -#}
{%- if debug == 1 -%}
{%- set vehicle_spawn_point_z = 4.0 -%} {#- Used to spawn in desired z location -#}
{%- set pload_spawn_x = 0 -%}
{%- set pload_spawn_y = 0 -%}
{%- set pload_spawn_z = vehicle_spawn_point_z - tl -%}
{%- set pload_joint_x = 0 -%}
{%- set pload_joint_y = 0 -%}
{%- set pload_joint_z = -tl/2 -%}
{%- else -%}
{%- set vehicle_spawn_point_z = 0.0 -%}
{%- set pload_spawn_x = full_tether_len -%}
{%- set pload_spawn_y = 0 -%}
{%- set pload_spawn_z = 0 -%}
{%- set pload_joint_x = 0 -%}
{%- set pload_joint_y = 0 -%}
{%- set pload_joint_z = tl/2 -%}
{%- endif -%}
{%- set tether_pos = vehicle_spawn_point_z - tl/2 -%} {#- Spawns tether vertically -#}
{#----------------------------------------------------------------------------------------------------------#}
{#-----------------------------------------------:MACROS:---------------------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
{%- macro payload(payload_m, n, pr, x, y, z, j_x, j_y, j_z) -%}
<!-- PAYLOAD -->
<model name='mass'>
<link name="payload">
<pose> {{ x }} {{ y }} {{ z }} 0 0 0</pose>
<!--pose>0 0 0 0 0 0</pose-->
<gravity>1</gravity>
<inertial>
<mass>{{ payload_m }}</mass>
</inertial>
<collision name="payload_collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>{{ pr }}</radius>
</sphere>
</geometry>
</collision>
<visual name="payload_visual">
<pose>0 0 0 0 0 0</pose>
{{ sphere(pr) }}
</visual>
</link>
<!-- Tether to Payload Connection -->
{%- if number_elements == 1 %}
<joint name="tether_mass_connection" type="fixed">
{%- else -%}
{%- set k = 'ball' -%}
{#- <joint name="tether_mass_connection" type="ball"> -#}
<joint name="tether_mass_connection" type="ball">
{% endif %}
<parent>payload</parent>
<child>link_{{n}}</child>
{#- joint_param(tl, damping, friction, joint_stiffness, spring_reference, k) #}
<pose>{{ j_x }} {{ j_y }} {{ j_z }} 0 0 0</pose>
<physics>
<ode></ode>
<provide_feedback>true</provide_feedback>
</physics>
</joint>
{%- if n is number -%}
<plugin name="ft_sensor_payload" filename="libgazebo_ros_ft_sensor.so">
<updateRate>1.0</updateRate>
<topicName>ft_sensor_topic/payload</topicName>
<jointName>tether_mass_connection</jointName>
</plugin>
{%- endif %}
</model>
{%- endmacro -%}
{%- macro cylinder(tl, cr_v) -%}
<geometry>
<cylinder>
<length>{{tl}}</length>
<radius>{{cr_v}}</radius>
</cylinder>
</geometry>
{%- endmacro -%}
{%- macro sphere(sr) -%}
<geometry>
<sphere>
<radius>{{sr}}</radius>
</sphere>
</geometry>
{%- endmacro -%}
{%- macro inertial(m) -%}
{#- A note about the inertial tensor matrix - It should be as below -#}
{#- set izz = m/2*cr**2 -#}
{#- set ixx = m/12*tl**2 + m/4*cr**2 -#}
{#- set iyy = m/12*tl**2 + m/4*cr**2 -#}
{#- but seems to segfault Gazebo when changing the values of the element specs -#}
{%- set izz = 0.01 -%}
{%- set ixx = 0.01 -%}
{%- set iyy = 0.01 -%}
<inertial>
<mass>{{m}}</mass>
<inertia>
<ixx>{{ixx}}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{iyy}}</iyy>
<iyz>0</iyz>
<izz>{{izz}}</izz>
</inertia>
</inertial>
{%- endmacro -%}
{%- macro collision(tl, cr) -%}
<collision name="collision">
<pose>{{tl / 2 - tl / 2}} 0 0 0 0 0</pose>
{{ cylinder(tl, cr) }}
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
{%- endmacro -%}
{%- macro element_material(element_color) -%}
<material>
<script>
<name>Gazebo/{{element_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro joint_material(joint_color) -%}
<material>
<script>
<name>Gazebo/{{joint_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro element_visual(tl, cr_v, element_color) -%}
{%- set x = tl * 0.5 -%}
<visual name="element_visual">
<pose>0 0 0 0 0 0</pose>
{{ cylinder(tl, cr_v) }}
{{ element_material(element_color) }}
</visual>
{%- endmacro -%}
{%- macro sphere_visual(sr, joint_color) -%}
<visual name="sphere_visual">
<pose> 0 0 {{ tl / -2 }} 0 0 0 </pose>
{{ sphere(sr) }}
{{ joint_material(joint_color) }}
</visual>
{%- endmacro -%}
{%- macro link(n, x, y, z, theta, m, tl, cr, cr_v, sr, element_color, joint_color) -%}
{% if debug == 1 %}
<model name="tether">
{%- endif %}
<link name="link_{{n}}">
<gravity>true</gravity>
<pose>{{x}} {{y}} {{z}} 0.0 {{theta}} 0.0</pose>
{{ inertial(m) }}
{%- if n != 0 and n != "spiri_attch_fixed" %}
{{ collision(tl, cr) }}
{{ element_visual(tl, cr_v, element_color) }}
{%- endif -%}
{%- if n != 0 -%}
{{ sphere_visual(sr, joint_color) }}
{%- endif %}
</link>
{%- endmacro %}
{%- macro joint(k, damping, friction, joint_stiffness, spring_reference, joint_type, number_elements) -%}
{%- if k is number -%}
{%- set link_n = k - 1 -%}
<joint name="joint_{{k}}" type="{{joint_type}}">
<child>link_{{k}}</child>
<parent>link_{{link_n}}</parent>
{{ joint_param(tl, damping, friction, tether_stiffness, spring_reference, k) }}
{%- elif number_elements == 1 -%}
{%- else -%}
{%- set link_n = 1 -%}
<joint name="joint_{{k}}" type="{{joint_type}}">
<child>link_{{k}}</child>
<parent>link_{{link_n}}</parent>
{{ joint_param(tl, damping, friction, tether_stiffness, spring_reference, k) }}
{%- endif %}
{%- endmacro -%}
{%- macro joint_param(tl, damping, friction, joint_stiffness, spring_reference, k) -%}
{%- if k is number -%}
<pose>0 0 -{{ tl/2 }} 0 0 0 </pose>
{%- else -%}
<pose>0 0 {{ tl/2 }} 0 0 0 </pose>
{%- endif %}
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>{{damping}}</damping>
<friction>{{friction}}</friction>
<joint_stiffness>{{joint_stiffness}}</joint_stiffness>
<spring_reference>{{spring_reference}}</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>{{damping}}</damping>
<friction>{{friction}}</friction>
<joint_stiffness>{{joint_stiffness}}</joint_stiffness>
<spring_reference>{{spring_reference}}</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
{%- if k is not number -%}
<provide_feedback>true</provide_feedback>
{%- endif -%}
</physics>
</joint>
{%- endmacro -%}
{%- macro lift_drag(n, tl, cr) -%}
{%- set area = 2 * cr * tl -%}
<plugin name="link_{{n}}_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>{{cda}}</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>{{cda_stall}}</cda_stall>
<useConstantDragCoefficient>true</useConstantDragCoefficient>
<cp>{{tl/2}} {{cr}} {{cr}}</cp>
<area>{{area}}</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_{{n}}</link_name>
</plugin>
{%- endmacro -%}
{#- <!-- Creates the final link - Where payload is attached(?) --> -#}
{%- macro final_tether(tl) -%}
{%- if debug == 1 -%}
{{ link("spiri_attch", 0, 0, tether_pos, 0, m, tl, cr, cr_v, sr, element_color, joint_color) }}
{{ lift_drag("spiri_attch", tl, cr) }}
{{ joint("spiri_attch", damping, friction, joint_stiffness, spring_reference, "universal", number_elements) }}
{%- else -%}
{%- set lose_x = tl/2 -%}
{{ link("spiri_attch", tl/2, vehicle_spawn_point_y, 0, theta, m, tl, cr, cr_v, sr, element_color, joint_color) }}
{{ lift_drag("spiri_attch", tl, cr) }}
{{ joint("spiri_attch", damping, friction, joint_stiffness, spring_reference, "universal", number_elements) }}
{%- endif -%}
{%- if debug == 1 -%}
</model>
{%- endif -%}
{%- endmacro -%}
{#- <!-- Used to change attachment joint of tether and drone --> -#}
{%- macro joint_type(j_type) -%}
{%- if j_type == 'ball' -%}
<joint name="tether_to_spiri_joint" type="ball">
<child>link_spiri_attch</child>
<parent>spiri::base</parent>
{#- joint_param(tl, damping, friction, joint_stiffness, spring_reference, 1) -#}
{% if debug == 1 %}
<pose>0 0 {{ tl/2 }} 0 0 0 </pose>
{%- else -%}
<pose>0 0 -{{ tl/2 }} 0 0 0 </pose>
{% endif %}
<physics>
<ode></ode>
<provide_feedback>true</provide_feedback>
</physics>
</joint>
{%- else -%}
<joint name="tether_to_spiri_joint" type="universal">
<child>link_spiri_attch</child>
<parent>spiri::base</parent>
{{ joint_param(tl, damping, friction, joint_stiffness, spring_reference, 1) }}
{%- endif -%}
{%- endmacro -%}
{#----------------------------------------------------------------------------------------------------------#}
{#-----------------------------------------------:SDF GENERATION:-------------------------------------------#}
{#----------------------------------------------------------------------------------------------------------#}
<!-- DO NOT EDIT: Generated from spiri_with_tether.sdf.jinja -->
<!-- tl = {{tl}} num. of el. = {{number_elements}} payload sz: {{pr}}-->
<sdf version="1.5">
<model name="spiri_with_tether">
<pose> 0 0 0 0.0 0.0 0.0</pose> {# only have to change this to change spawn location #}
<include>
<uri>model://spiri</uri>
<pose>0.0 0.0 {{ vehicle_spawn_point_z }} 0.0 0.0 {{ yaw }}</pose>
<static>{{ debug }}</static>
</include>
{{joint_type('ball')}}
<plugin name="ft_sensor_spiri" filename="libgazebo_ros_ft_sensor.so">
<updateRate>1.0</updateRate>
<topicName>ft_sensor_topic/spiri</topicName>
<jointName>tether_to_spiri_joint</jointName>
</plugin>
{#- ---------- CREATE TETHER LINKS -------- -#}
{{ final_tether(tl) }}
{%- for n in range(1, number_elements) -%}
{%- set x = (tl / 2 + (n*tl)) -%}
{{ link(n, x, vehicle_spawn_point_y, 0.0, theta, m, tl, cr, cr_v, sr, element_color, joint_color) }}
{{ lift_drag(n, tl, cr) }}
{%- endfor -%}
{%- for k in range(2, number_elements) -%}
{{ joint(k, damping, friction, tether_stiffness, spring_reference, "universal", number_elements) }}
{% endfor %}
{#------------- PAYLOAD -----------#}
{%- if number_elements == 1 -%}
{%- set n = "spiri_attch" -%}
{%- else -%}
{%- set n = number_elements - 1 -%}
{% endif %} {{ payload(payload_m,n,pr,pload_spawn_x,pload_spawn_y,pload_spawn_z,pload_joint_x,pload_joint_y,pload_joint_z) }}
</model>
</sdf>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->

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<?xml version='1.0'?>
<model>
<name>tether</name>
<version>1.0.0</version>
<sdf version='1.5'>tether-gen.sdf</sdf>
<author>
<name>Nuno Marques</name>
<email>n.marques21@hotmail.com</email>
</author>
<description>
This model approximates a tether cord.
</description>
</model>

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<?xml version="1.0" ?>
<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
<sdf version="1.5">
<model name="tether">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<link name="link_0">
<gravity>true</gravity>
<pose>-0.085 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_0_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_0</link_name>
</plugin>
<link name="link_y_left">
<gravity>true</gravity>
<pose>-0.085 0.0 0.0 0.0 0.0 -9.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><collision name="collision">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="element_visual">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/White</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_y_left_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_y_left</link_name>
</plugin>
<link name="link_y_right">
<gravity>true</gravity>
<pose>-0.085 0 0.0 0.0 0.0 9.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><collision name="collision">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="element_visual">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/White</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_y_right_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_y_right</link_name>
</plugin>
<joint name="joint_y_left" type="universal">
<child>link_0</child>
<parent>link_y_left</parent>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="joint_y_right" type="universal">
<child>link_0</child>
<parent>link_y_right</parent>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="fixed_to_world" type="fixed">
<child>link_0</child>
<parent>world</parent>
</joint>
</model>
</sdf>

223
models/tether/tether.sdf.jinja Normal file
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@ -0,0 +1,223 @@
{#-------------------SDF generator for Tether Gazebo model--------------------#}
{#--------------The parameters bellow are the ones to be tweaked--------------#}
{#--------------------------:Tweakable parameters:----------------------------#}
{%- set number_elements = 1 -%}
{%- set last_elem = number_elements |int - 1 -%}
{%- set cl = 0.17 -%} {#- cl: length of the element (meters) -#}
{%- set cr = 0.001 -%} {#- cr: radius of the element (meters) -#}
{%- set sr = 0.009 -%} {#- sr: element joint radius (sphere) (meters) -#}
{%- set y_el = 0.2 -%} {#- y_el: length of the Y elements (meters) -#}
{%- set y_tetha = 18 -%} {#- y_tetha: angle between the Y elements (degrees)-#}
{%- set m = 0.03 * cl -%} {#- m: mass of the element (kg), given the length -#}
{%- set damping = 0.05 -%}
{%- set friction = 0.0 -%}
{%- set spring_stiffness = 0.01 -%}
{%- set spring_reference = 0.0 -%}
{%- set element_color = 'White' -%}
{%- set joint_color = 'Red' -%}
{#----------------------------------------------------------------------------#}
{%- macro cylinder(cl, cr) -%}
<geometry>
<cylinder>
<length>{{cl}}</length>
<radius>{{cr}}</radius>
</cylinder>
</geometry>
{%- endmacro -%}
{%- macro sphere(sr) -%}
<geometry>
<sphere>
<radius>{{sr}}</radius>
</sphere>
</geometry>
{%- endmacro -%}
{%- macro inertial(m) -%}
{#- A note about the inertial tensor matrix - It should be as bellow -#}
{#- {%- set izz = m/2*cr**2 -%} -#}
{#- {%- set ixx = m/12*cl**2 + m/4*cr**2 -%} -#}
{#- {%- set iyy = m/12*cl**2 + m/4*cr**2 -%} -#}
{#- but seems to segfault Gazebo when changing the values of the element specs -#}
{%- set izz = 0.01 -%}
{%- set ixx = 0.01 -%}
{%- set iyy = 0.01 -%}
<inertial>
<mass>{{m}}</mass>
<inertia>
<ixx>{{ixx}}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{iyy}}</iyy>
<iyz>0</iyz>
<izz>{{izz}}</izz>
</inertia>
</inertial>
{%- endmacro -%}
{%- macro collision(cl, cr) -%}
<collision name="collision">
<pose>0.1 0 0 0 1.570790 0</pose>
{{ cylinder(cl, cr) }}
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
{%- endmacro -%}
{%- macro element_material(element_color) -%}
<material>
<script>
<name>Gazebo/{{element_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro joint_material(joint_color) -%}
<material>
<script>
<name>Gazebo/{{joint_color}}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
{%- endmacro -%}
{%- macro element_visual(cl, cr, element_color) -%}
{%- set x = cl * 0.5 -%}
<visual name="element_visual">
<pose>{{x}} 0 0 0 1.570790 0</pose>
{{ cylinder(cl, cr) }}
{{ element_material(element_color) }}
</visual>
{%- endmacro -%}
{%- macro sphere_visual(sr, sphere_clor) -%}
<visual name="sphere_visual">
{{ sphere(sr) }}
{{ joint_material(joint_color) }}
</visual>
{%- endmacro -%}
{%- macro link(n, x, y, z, yaw, m, cl, cr, sr, element_color, joint_color) -%}
<link name="link_{{n}}">
<gravity>true</gravity>
<pose>{{x}} {{y}} {{z}} 0.0 0.0 {{yaw}}</pose>
{{ inertial(m) }}
{%- if n != last_elem -%}
{{ collision(cl, cr) }}
{{ element_visual(cl, cr, element_color) }}
{%- endif -%}
{{ sphere_visual(sr, joint_color) }}
</link>
{%- endmacro %}
{%- macro joint(k, damping, friction, spring_stiffness, spring_reference) -%}
{%- if k is number -%}
{%- set link_n = k - 1 -%}
<joint name="joint_{{k}}" type="universal">
<child>link_{{k}}</child>
<parent>link_{{link_n}}</parent>
{%- else -%}
{%- set link_n = 0 -%}
<joint name="joint_{{k}}" type="universal">
<child>link_{{link_n}}</child>
<parent>link_{{k}}</parent>
{%- endif %}
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>{{damping}}</damping>
<friction>{{friction}}</friction>
<spring_stiffness>{{spring_stiffness}}</spring_stiffness>
<spring_reference>{{spring_reference}}</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>{{damping}}</damping>
<friction>{{friction}}</friction>
<spring_stiffness>{{spring_stiffness}}</spring_stiffness>
<spring_reference>{{spring_reference}}</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
{%- endmacro -%}
{%- macro lift_drag(n, cl, cr) -%}
{%- set area = 2 * cr * cl -%}
<plugin name="link_{{n}}_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>{{area}}</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_{{n}}</link_name>
</plugin>
{%- endmacro %}
{%- macro y_element(cl, y_el, y_tetha) %}
{%- set x_l = - cl / 2 -%}
{%- set y_l = 0.0 -%}
{%- set z_l = 0.0 -%}
{%- set yaw_l = - y_tetha / 2 -%}
{{ link("y_left", x_l, y_l, z_l, yaw_l, m, y_el, cr, sr, element_color, joint_color) }}
{{ lift_drag("y_left", cl, cr) }}
{%- set x_r = - cl / 2 -%}
{%- set y_r = 0 -%}
{%- set z_r = 0.0 -%}
{%- set yaw_r = y_tetha / 2 %}
{{ link("y_right", x_r, y_r, z_r, yaw_r, m, y_el, cr, sr, element_color, joint_color) }}
{{ lift_drag("y_right", cl, cr) }}
{{ joint("y_left", damping, friction, spring_stiffness, spring_reference) }}
{{ joint("y_right", damping, friction, spring_stiffness, spring_reference) }}
{%- endmacro -%}
<?xml version="1.0" ?>
<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
<sdf version="1.5">
<model name="tether">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
{% for n in range(number_elements) -%}
{%- set x = n * cl / 2 + ( n - 1) * cl / 2 -%}
{%- set y = 0.0 -%}
{%- set z = 0.0 -%}
{%- set yaw = 0.0 -%}
{{ link(n, x, y, z, yaw, m, cl, cr, sr, element_color, joint_color) }}
{{ lift_drag(n, cl, cr) }}
{% endfor -%}
{{ y_element(cl, y_el, y_tetha) }}
{% for k in range(1, number_elements) -%}
{{ joint(k, damping, friction, spring_stiffness, spring_reference) }}
{% endfor -%}
<joint name="fixed_to_world" type="fixed">
<child>link_{{last_elem}}</child>
<parent>world</parent>
</joint>
</model>
</sdf>

264
models/tether/tether.sdf.last_generated Normal file
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@ -0,0 +1,264 @@
<?xml version="1.0" ?>
<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
<sdf version="1.5">
<model name="tether">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<link name="link_0">
<gravity>true</gravity>
<pose>-0.085 0.0 0.0 0.0 0.0 0.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_0_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_0</link_name>
</plugin>
<link name="link_y_left">
<gravity>true</gravity>
<pose>-0.085 0.0 0.0 0.0 0.0 -9.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><collision name="collision">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="element_visual">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/White</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_y_left_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_y_left</link_name>
</plugin>
<link name="link_y_right">
<gravity>true</gravity>
<pose>-0.085 0 0.0 0.0 0.0 9.0</pose>
<inertial>
<mass>0.0051</mass>
<inertia>
<ixx>0.01</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.01</iyy>
<iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial><collision name="collision">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.00005</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="element_visual">
<pose>0.1 0 0 0 1.570790 0</pose>
<geometry>
<cylinder>
<length>0.2</length>
<radius>0.001</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/White</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual><visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.009</radius>
</sphere>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<plugin name="link_y_right_drag" filename="libLiftDragPlugin.so">
<robotNamespace></robotNamespace>
<a0>0</a0>
<cla>0</cla>
<cda>1.2535816618911175</cda>
<alpha_stall>0</alpha_stall>
<cda_stall>1.4326647564469914</cda_stall>
<cp>0 0 0</cp>
<area>0.00034</area>
<air_density>1.2041</air_density>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>link_y_right</link_name>
</plugin>
<joint name="joint_y_left" type="universal">
<child>link_0</child>
<parent>link_y_left</parent>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="joint_y_right" type="universal">
<child>link_0</child>
<parent>link_y_right</parent>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<axis2>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.05</damping>
<friction>0.0</friction>
<spring_stiffness>0.01</spring_stiffness>
<spring_reference>0.0</spring_reference>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis2>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
<joint name="fixed_to_world" type="fixed">
<child>link_0</child>
<parent>world</parent>
</joint>
</model>
</sdf>

10
setup.txt
View File

@ -38,6 +38,7 @@ STEP 1) Installing ROS Melodic
cd ~/catkin_ws
sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
- BUILD SOURCE
cd ~/catkin_ws
catkin build
@ -47,12 +48,14 @@ STEP 2) PX4 Environment Development
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
- RUN UBUNTU.SH
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
Restart computer after it is done
- BUILD ROS/GAZEBO: Gets Gazebo9
wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
bash ubuntu_sim_ros_melodic.sh
- Download QGroundControl from:
https://docs.qgroundcontrol.com/master/en/releases/daily_builds.html
- Build jMAVSim and Gazebo
cd ~/PX4-Autopilot
make px4_sitl jmavsim
%%% May need to open QGroundControl for it to work %%%
make px4_sitl gazebo
@ -85,9 +88,10 @@ STEP 3) This is Cesar stuff, need to do stuff to rebuild oscillation_ctrl
change default sitl_gazebo folder with working folder
-- Change this to add model, change airframe, etc and add citadel_hill world
-ROMFS/PX4FMU_COMMON
create airframe file in init.d-posix
add it to cmake list in same 'airframe' folder (with number)
add airframe name in ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (no number)
add files in oscillation_ctrl/models and oscillation_ctrl/worlds to PX4-Autopilot/Tools/sitl_gazebo/models and PX4-Autopilot/Tools/sitl_gazebo/worlds respectively
add files in oscillation_ctrl/airframes to PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
add file name to CmakeLists.txt in same 'airframe' folder (with number)
add airframe name in ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake (no number!)
-LAUNCH FILES
change default ~/PX4-Autopilot/launch folder with working folder
-MAVROS

57
worlds/citadel_hill_world.world Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="citadel_hill">
<gravity>0 0 -9.8066</gravity>
<magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.25 0.25 0.25 1</background>
<shadows>false</shadows>
</scene>
<include>
<uri>model://sun</uri>
</include>
<gui>
<camera name="user_camera">
<pose>-5 5 1 0 0 -1.124</pose>
</camera>
</gui>
<include>
<scale>0.1 0.1 0.1 </scale>
<pose>-275 -250 0 0 0 0</pose>
<uri>model://ground_plane</uri>
</include>
<model name="citadel_hill">
<static>true</static>
<include>
<uri>model://citadel_hill</uri>
<pose>-275 -250 0 0 0 0</pose>
</include>
</model>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>44.6475</latitude_deg>
<longitude_deg>-63.5796</longitude_deg>
</spherical_coordinates>
<physics name='default_physics' default='0' type='ode'>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.004</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
</world>
</sdf>