mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 06:13:33 +08:00
simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989)
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Benjamin Perseghetti
co-authored by
Alejandro Hernández Cordero
Alejandro Hernández Cordero
parent
fbd2e111d0
commit
684b4a4b8a
+2
-2
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>Plane</name>
|
||||
<name>rc_cessna</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.9'>model.sdf</sdf>
|
||||
|
||||
@@ -10,6 +10,6 @@
|
||||
</author>
|
||||
|
||||
<description>
|
||||
This is a model of a standard plane.
|
||||
This is a model of an RC Cessna 182.
|
||||
</description>
|
||||
</model>
|
||||
+235
-20
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='plane'>
|
||||
<model name='rc_cessna'>
|
||||
<pose>0 0 0.246 0 0 0</pose>
|
||||
<link name='base_link'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
@@ -16,11 +16,11 @@
|
||||
<izz>0.1477</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_collision'>
|
||||
<pose>0 0 -0.07 0 0 0</pose>
|
||||
<collision name='fuselodge_collision'>
|
||||
<pose>-.14 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.47 0.47 0.11</size>
|
||||
<size>0.65 .08 0.10</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
@@ -32,12 +32,44 @@
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name='wings_collision'>
|
||||
<pose>-0.01 0 0.07 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 1.0 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>10</max_vel>
|
||||
<min_depth>0.01</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name='fuselodge_collision_visual'>
|
||||
<pose>-.14 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.65 .08 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='wings_collision_visual'>
|
||||
<pose>-0.01 0 0.07 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 1.0 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual> -->
|
||||
<visual name='base_link_visual'>
|
||||
<pose>0.07 0 -0.08 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/body.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/body.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -67,7 +99,7 @@
|
||||
<izz>1e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<visual name="airspeed_visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.01</radius>
|
||||
@@ -98,7 +130,7 @@
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name='rotor_puller'>
|
||||
<pose>0.22 0 0.0 0 1.57 0</pose>
|
||||
<pose>0.22 0 0.0 0 1.57079632679 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
@@ -112,7 +144,7 @@
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_puller_collision'>
|
||||
<pose>0.0 0 0 0 0 0</pose>
|
||||
<pose>0 0 0 0 -1.57079632679 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.005 0.22 0.02</size>
|
||||
@@ -128,7 +160,7 @@
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name='rotor_puller_collision_visual'>
|
||||
<pose>0.0 0 0 0 0 0</pose>
|
||||
<pose>0 0 0 0 -1.57079632679 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.005 0.22 0.02</size>
|
||||
@@ -136,11 +168,11 @@
|
||||
</geometry>
|
||||
</visual> -->
|
||||
<visual name='rotor_puller_visual'>
|
||||
<pose>0 0 0 0.0 0 0.0</pose>
|
||||
<pose>0 0 0 0 0 -1.57079632679</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://plane/meshes/iris_prop_ccw.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -186,7 +218,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/left_aileron.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/left_aileron.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -195,6 +227,135 @@
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="LeftWheel">
|
||||
<pose relative_to="LeftWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="LeftWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="LeftWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="RightWheel">
|
||||
<pose relative_to="RightWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="RightWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="RightWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="CenterWheel">
|
||||
<pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="CenterWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="CenterWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
@@ -213,7 +374,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/right_aileron.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/right_aileron.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -240,7 +401,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/left_flap.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/left_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -267,7 +428,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/right_flap.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/right_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -294,7 +455,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/elevators.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/elevators.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -321,7 +482,7 @@
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://plane/meshes/rudder.dae</uri>
|
||||
<uri>model://rc_cessna/meshes/rudder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
@@ -451,6 +612,57 @@
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name="LeftWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>LeftWheel</child>
|
||||
<pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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>
|
||||
<joint name="RightWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>RightWheel</child>
|
||||
<pose relative_to="base_link">-.035 -.13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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>
|
||||
<joint name="CenterWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>CenterWheel</child>
|
||||
<pose relative_to="base_link">.135 0 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
@@ -472,6 +684,7 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>px4_servo_0</joint_name>
|
||||
<sub_topic>px4_servo_0</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -494,6 +707,7 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>px4_servo_1</joint_name>
|
||||
<sub_topic>px4_servo_1</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -531,7 +745,7 @@
|
||||
<control_joint_name>right_flap_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>-0.2</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
@@ -552,6 +766,7 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>px4_servo_2</joint_name>
|
||||
<sub_topic>px4_servo_2</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
@@ -575,7 +790,7 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
<linkName>rotor_puller</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -585,7 +800,7 @@
|
||||
<motorConstant>2.44858e-05</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
@@ -528,7 +528,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -544,7 +544,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -560,7 +560,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
|
||||
Reference in New Issue
Block a user