mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 10:51:35 +08:00
WIP
This commit is contained in:
Daniel Agar
@@ -1,341 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<world name="quadcopter">
|
||||
<physics name="4ms" type="ode">
|
||||
<max_step_size>0.004</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
</physics>
|
||||
<plugin
|
||||
filename="libignition-gazebo-physics-system.so"
|
||||
name="ignition::gazebo::systems::Physics">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-scene-broadcaster-system.so"
|
||||
name="ignition::gazebo::systems::SceneBroadcaster">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-user-commands-system.so"
|
||||
name="ignition::gazebo::systems::UserCommands">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-sensors-system.so"
|
||||
name="ignition::gazebo::systems::Sensors">
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<plugin filename="libignition-gazebo-imu-system.so"
|
||||
name="ignition::gazebo::systems::Imu">
|
||||
</plugin>
|
||||
<gui fullscreen="0">
|
||||
<!-- 3D scene -->
|
||||
<plugin filename="GzScene3D" name="3D View">
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="string" key="state">docked</property>
|
||||
</ignition-gui>
|
||||
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||
<background_color>0.8 0.8 0.8</background_color>
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
|
||||
<!-- World control -->
|
||||
<plugin filename="WorldControl" name="World control">
|
||||
<ignition-gui>
|
||||
<title>World control</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="bool" key="resizable">false</property>
|
||||
<property type="double" key="height">72</property>
|
||||
<property type="double" key="width">121</property>
|
||||
<property type="double" key="z">1</property>
|
||||
|
||||
<property type="string" key="state">floating</property>
|
||||
<anchors target="3D View">
|
||||
<line own="left" target="left"/>
|
||||
<line own="bottom" target="bottom"/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
|
||||
<play_pause>true</play_pause>
|
||||
<step>true</step>
|
||||
<start_paused>true</start_paused>
|
||||
<service>/world/quadcopter/control</service>
|
||||
<stats_topic>/world/quadcopter/stats</stats_topic>
|
||||
|
||||
</plugin>
|
||||
|
||||
<!-- World statistics -->
|
||||
<plugin filename="WorldStats" name="World stats">
|
||||
<ignition-gui>
|
||||
<title>World stats</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="bool" key="resizable">false</property>
|
||||
<property type="double" key="height">110</property>
|
||||
<property type="double" key="width">290</property>
|
||||
<property type="double" key="z">1</property>
|
||||
|
||||
<property type="string" key="state">floating</property>
|
||||
<anchors target="3D View">
|
||||
<line own="right" target="right"/>
|
||||
<line own="bottom" target="bottom"/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
|
||||
<sim_time>true</sim_time>
|
||||
<real_time>true</real_time>
|
||||
<real_time_factor>true</real_time_factor>
|
||||
<iterations>true</iterations>
|
||||
<topic>/world/quadcopter/stats</topic>
|
||||
|
||||
</plugin>
|
||||
|
||||
</gui>
|
||||
|
||||
<light type="directional" name="sun">
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
</plane>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<include>
|
||||
<uri>model://x3</uri>
|
||||
<plugin
|
||||
filename="ignition-gazebo-multicopter-motor-model-system"
|
||||
name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>X3</robotNamespace>
|
||||
<jointName>X3/rotor_0_joint</jointName>
|
||||
<linkName>X3/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>gazebo/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>X3/rotor_1_joint</jointName>
|
||||
<linkName>X3/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>gazebo/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>X3/rotor_2_joint</jointName>
|
||||
<linkName>X3/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>gazebo/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>X3/rotor_3_joint</jointName>
|
||||
<linkName>X3/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>gazebo/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>
|
||||
<plugin
|
||||
filename="libmavlink_sitl_ign_gazebo.so"
|
||||
name="mavlink_interface::GazeboMavlinkInterface">
|
||||
<robotNamespace/>
|
||||
<imuSubTopic>/imu</imuSubTopic>
|
||||
<magSubTopic>/mag</magSubTopic>
|
||||
<baroSubTopic>/baro</baroSubTopic>
|
||||
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
||||
<mavlink_udp_port>14560</mavlink_udp_port>
|
||||
<mavlink_tcp_port>4560</mavlink_tcp_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>
|
||||
<vehicle_is_tailsitter>0</vehicle_is_tailsitter>
|
||||
<send_vision_estimation>0</send_vision_estimation>
|
||||
<send_odometry>1</send_odometry>
|
||||
<enable_lockstep>1</enable_lockstep>
|
||||
<use_tcp>1</use_tcp>
|
||||
<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>
|
||||
</include>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,139 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<world name="quadcopter">
|
||||
<physics name="2.5 ms" type="ode">
|
||||
<max_step_size>0.002500</max_step_size>
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
</physics>
|
||||
<plugin
|
||||
filename="libignition-gazebo-physics-system.so"
|
||||
name="ignition::gazebo::systems::Physics">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-scene-broadcaster-system.so"
|
||||
name="ignition::gazebo::systems::SceneBroadcaster">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-user-commands-system.so"
|
||||
name="ignition::gazebo::systems::UserCommands">
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libignition-gazebo-sensors-system.so"
|
||||
name="ignition::gazebo::systems::Sensors">
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<plugin filename="libignition-gazebo-imu-system.so"
|
||||
name="ignition::gazebo::systems::Imu">
|
||||
</plugin>
|
||||
<gui fullscreen="0">
|
||||
<!-- 3D scene -->
|
||||
<plugin filename="GzScene3D" name="3D View">
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="string" key="state">docked</property>
|
||||
</ignition-gui>
|
||||
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||
<background_color>0.8 0.8 0.8</background_color>
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
|
||||
<!-- World control -->
|
||||
<plugin filename="WorldControl" name="World control">
|
||||
<ignition-gui>
|
||||
<title>World control</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="bool" key="resizable">false</property>
|
||||
<property type="double" key="height">72</property>
|
||||
<property type="double" key="width">121</property>
|
||||
<property type="double" key="z">1</property>
|
||||
|
||||
<property type="string" key="state">floating</property>
|
||||
<anchors target="3D View">
|
||||
<line own="left" target="left"/>
|
||||
<line own="bottom" target="bottom"/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
|
||||
<play_pause>true</play_pause>
|
||||
<step>true</step>
|
||||
<start_paused>true</start_paused>
|
||||
<service>/world/quadcopter/control</service>
|
||||
<stats_topic>/world/quadcopter/stats</stats_topic>
|
||||
|
||||
</plugin>
|
||||
|
||||
<!-- World statistics -->
|
||||
<plugin filename="WorldStats" name="World stats">
|
||||
<ignition-gui>
|
||||
<title>World stats</title>
|
||||
<property type="bool" key="showTitleBar">false</property>
|
||||
<property type="bool" key="resizable">false</property>
|
||||
<property type="double" key="height">110</property>
|
||||
<property type="double" key="width">290</property>
|
||||
<property type="double" key="z">1</property>
|
||||
|
||||
<property type="string" key="state">floating</property>
|
||||
<anchors target="3D View">
|
||||
<line own="right" target="right"/>
|
||||
<line own="bottom" target="bottom"/>
|
||||
</anchors>
|
||||
</ignition-gui>
|
||||
|
||||
<sim_time>true</sim_time>
|
||||
<real_time>true</real_time>
|
||||
<real_time_factor>true</real_time_factor>
|
||||
<iterations>true</iterations>
|
||||
<topic>/world/quadcopter/stats</topic>
|
||||
|
||||
</plugin>
|
||||
|
||||
</gui>
|
||||
|
||||
<light type="directional" name="sun">
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<pose>0 0 10 0 0 0</pose>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<constant>0.9</constant>
|
||||
<linear>0.01</linear>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
</light>
|
||||
|
||||
<model name="ground_plane">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
</plane>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.8 0.8 0.8 1</ambient>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.8 0.8 0.8 1</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<include>
|
||||
<uri>model://X4</uri>
|
||||
</include>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user