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