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Fix for sensor airspeed enable.

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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
This commit is contained in:
Benjamin Perseghetti
2023-01-25 12:20:32 -05:00
parent 90d904bfd4
commit 29e1e0df91
6 changed files with 16 additions and 32 deletions
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Tools/simulation/gz/models/standard_vtol/model.sdf
+2 -16
View File
@@ -135,7 +135,7 @@
<update_rate>250</update_rate>
</sensor>
</link>
<link name="airspeed">
<link name="airspeed_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
@@ -177,23 +177,9 @@
</sensor>
</link>
<joint name='airspeed_joint' type='fixed'>
<child>airspeed</child>
<child>airspeed_link</child>
<parent>base_link</parent>
</joint>
<!-- <include>
<uri>model://airspeed</uri>
<pose>0 0 0 0 0 0</pose>
<name>airspeed</name>
</include>
<include>
<uri>model://magnetometer</uri>
<pose>0 0 0 0 0 0</pose>
<name>mag</name>
</include>
<joint name='mag_joint' type='fixed'>
<child>mag::link</child>
<parent>base_link</parent>
</joint> -->
<link name='rotor_0'>
<pose>0.35 -0.35 0.07 0 0 0</pose>
<inertial>
Tools/simulation/gz/worlds/default.sdf
+6 -6
View File
@@ -5,12 +5,12 @@
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<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'>
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
<gui fullscreen='false'>