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WIP: add X3

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Daniel Agar
2022-08-14 15:15:24 -04:00
parent 61226a39bd
commit 04ac07f07a
16 changed files with 10971 additions and 158 deletions
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Tools/simulation/gazebo/models/X3/meshes/propeller_ccw.dae
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Tools/simulation/gazebo/models/X3/meshes/propeller_cw.dae
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Tools/simulation/gazebo/models/X3/meshes/x3.dae
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Tools/simulation/gazebo/models/X3/meshes/x3.jpg
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Tools/simulation/gazebo/models/X3/model.config
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<?xml version="1.0"?>
<model>
<name>x3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Carlos Aguero</name>
<email>caguero@openrobotics.org</email>
</author>
<author>
<name>Cole Biesemeyer</name>
<email>cole@openrobotics.org</email>
</author>
<description>
</description>
</model>
Tools/simulation/gazebo/models/X3/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
<model name="X3">
<pose>0 0 0.053302 0 0 0</pose>
<link name="base_link">
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.0347563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.07</iyy>
<iyz>0</iyz>
<izz>0.0977</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
</collision>
<visual name="base_link_inertia_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/x3.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="rotor_0">
<pose frame="">0.13 -0.22 0.023 0 -0 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>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-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>0.1</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>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</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 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">
<pose frame="">-0.13 0.2 0.023 0 -0 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>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-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>0.1</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>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</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 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">
<pose frame="">0.13 0.22 0.023 0 -0 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>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-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>0.1</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>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</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 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">
<pose frame="">-0.13 -0.2 0.023 0 -0 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>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-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>0.1</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>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</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 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="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</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>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</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>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</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>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</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>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
</model>
</sdf>
Tools/simulation/gazebo/models/X4/model.sdf
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@@ -4,7 +4,6 @@
<pose>0 0 0.121078 0 0 0</pose>
<link name="base_link">
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>3.42</mass>
@@ -17,7 +16,6 @@
<izz>0.148916</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
@@ -143,12 +141,10 @@
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>400</update_rate>
<update_rate>250</update_rate>
<imu>
<enable_orientation>0</enable_orientation>
<angular_velocity>
<x>
<noise type="gaussian">
@@ -707,7 +703,6 @@
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<!-- now some plugins -->
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>X4</robotNamespace>
<jointName>rotor_0_joint</jointName>