mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 06:41:36 +08:00
WIP
This commit is contained in:
Daniel Agar
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Binary file not shown.
|
After Width: | Height: | Size: 206 KiB |
@@ -0,0 +1,20 @@
|
||||
<?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>
|
||||
@@ -0,0 +1,318 @@
|
||||
<sdf version='1.6'>
|
||||
<model name='x3'>
|
||||
<pose>0 0 0.053302 0 0 0</pose>
|
||||
<link name='X3/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='X3/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='X3/base_link_inertia_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x3/meshes/x3.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<topic>imu</topic>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name='X3/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='X3/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='X3/rotor_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://x3/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='X3/rotor_0_joint' type='revolute'>
|
||||
<child>X3/rotor_0</child>
|
||||
<parent>X3/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='X3/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='X3/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='X3/rotor_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://x3/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='X3/rotor_1_joint' type='revolute'>
|
||||
<child>X3/rotor_1</child>
|
||||
<parent>X3/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='X3/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='X3/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='X3/rotor_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://x3/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='X3/rotor_2_joint' type='revolute'>
|
||||
<child>X3/rotor_2</child>
|
||||
<parent>X3/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='X3/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='X3/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='X3/rotor_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://x3/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='X3/rotor_3_joint' type='revolute'>
|
||||
<child>X3/rotor_3</child>
|
||||
<parent>X3/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="libgazebo_barometer_plugin.so"
|
||||
name="barometer_plugin::BarometerPlugin">
|
||||
<link_name>X3/base_link</link_name>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libgazebo_magnetometer_plugin.so"
|
||||
name="magnetometer_plugin::MagnetometerPlugin">
|
||||
<link_name>X3/base_link</link_name>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="libgazebo_gps_plugin.so"
|
||||
name="gps_plugin::GpsPlugin">
|
||||
<link_name>X3/base_link</link_name>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user