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Multi-Vehicle Ignition Gazebo Simulation (#20154)
This commit is contained in:
Benjamin Perseghetti
committed by
GitHub
GitHub
parent
7bbdc220f5
commit
a56f654651
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</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="VisualSceneNode" name="VisualScene">
|
||||
<node id="node" name="node">
|
||||
<instance_geometry url="#shape0-lib"/>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#VisualSceneNode"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
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|
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|
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|
Before Width: | Height: | Size: 166 KiB |
@@ -1,17 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>x4</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Luis Pinto</name>
|
||||
<email>luis.pinto@mov.ai</email>
|
||||
</author>
|
||||
|
||||
|
||||
<description>
|
||||
X4 UAV with sensor configuration #1: IMU, pressure sensor, magnetometer + GPS , RGBD
|
||||
</description>
|
||||
</model>
|
||||
@@ -1,822 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version="1.6">
|
||||
<model name="x4">
|
||||
<pose>0 0 0.121078 0 0 0</pose>
|
||||
<link name="base_link">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<mass>3.42</mass>
|
||||
<inertia>
|
||||
<ixx>0.075</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.148916</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="base_link_inertia_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.3 0.3 0.25</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="base_link_inertia_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/x4.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="marker_visual_1">
|
||||
<pose frame="">-0.1 0 0.077 0 -0.1 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/led.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="marker_visual_2">
|
||||
<pose frame="">-0.09 0.059 0.059 -0.785397 -0 0.2</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/led.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="marker_visual_3">
|
||||
<pose frame="">-0.09 -0.059 0.059 0.785397 -0 -0.2</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/led.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
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</visual>
|
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<visual name="downward_flashlight_visual">
|
||||
<pose frame="">-0.043704 0 0.102914 -0.2 0.000158 -1.57002</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.01 0.01 0.01</scale>
|
||||
<uri>meshes/spotlight.dae</uri>
|
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</mesh>
|
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</geometry>
|
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</visual>
|
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<visual name="left_flashlight_visual">
|
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<pose frame="">-0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27</pose>
|
||||
<geometry>
|
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<mesh>
|
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<scale>0.01 0.01 0.01</scale>
|
||||
<uri>meshes/spotlight.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
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</visual>
|
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<visual name="right_flashlight_visual">
|
||||
<pose frame="">-0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.01 0.01 0.01</scale>
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||||
<uri>meshes/spotlight.dae</uri>
|
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</mesh>
|
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</geometry>
|
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</visual>
|
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<light name="right_light_source" type="spot">
|
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<pose frame="">-0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791</pose>
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<attenuation>
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<range>15</range>
|
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<linear>0</linear>
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<constant>0.1</constant>
|
||||
<quadratic>0.01</quadratic>
|
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</attenuation>
|
||||
<diffuse>0.8 0.8 0.5 1</diffuse>
|
||||
<specular>0.8 0.8 0.5 1</specular>
|
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<spot>
|
||||
<inner_angle>1</inner_angle>
|
||||
<outer_angle>1.1</outer_angle>
|
||||
<falloff>1</falloff>
|
||||
</spot>
|
||||
<direction>0 0 -1</direction>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</light>
|
||||
<light name="downward_flashlight_source" type="spot">
|
||||
<pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
|
||||
<attenuation>
|
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<range>15</range>
|
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<linear>0</linear>
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<constant>0.1</constant>
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<quadratic>0.01</quadratic>
|
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</attenuation>
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<diffuse>0.8 0.8 0.5 1</diffuse>
|
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<specular>0.8 0.8 0.5 1</specular>
|
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<spot>
|
||||
<inner_angle>1</inner_angle>
|
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<outer_angle>1.1</outer_angle>
|
||||
<falloff>1</falloff>
|
||||
</spot>
|
||||
<direction>0 0 -1</direction>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</light>
|
||||
<light name="left_flashlight_source" type="spot">
|
||||
<pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
|
||||
<attenuation>
|
||||
<range>15</range>
|
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<linear>0</linear>
|
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<constant>0.1</constant>
|
||||
<quadratic>0.01</quadratic>
|
||||
</attenuation>
|
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<diffuse>0.8 0.8 0.5 1</diffuse>
|
||||
<specular>0.8 0.8 0.5 1</specular>
|
||||
<spot>
|
||||
<inner_angle>1</inner_angle>
|
||||
<outer_angle>1.1</outer_angle>
|
||||
<falloff>1</falloff>
|
||||
</spot>
|
||||
<direction>0 0 -1</direction>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
</light>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.009</stddev>
|
||||
<bias_mean>0.00075</bias_mean>
|
||||
<bias_stddev>0.005</bias_stddev>
|
||||
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
|
||||
<precision>0.00025</precision>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.009</stddev>
|
||||
<bias_mean>0.00075</bias_mean>
|
||||
<bias_stddev>0.005</bias_stddev>
|
||||
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
|
||||
<precision>0.00025</precision>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.009</stddev>
|
||||
<bias_mean>0.00075</bias_mean>
|
||||
<bias_stddev>0.005</bias_stddev>
|
||||
<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
|
||||
<precision>0.00025</precision>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.021</stddev>
|
||||
<bias_mean>0.05</bias_mean>
|
||||
<bias_stddev>0.0075</bias_stddev>
|
||||
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
|
||||
<precision>0.005</precision>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.021</stddev>
|
||||
<bias_mean>0.05</bias_mean>
|
||||
<bias_stddev>0.0075</bias_stddev>
|
||||
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
|
||||
<precision>0.005</precision>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.021</stddev>
|
||||
<bias_mean>0.05</bias_mean>
|
||||
<bias_stddev>0.0075</bias_stddev>
|
||||
<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
|
||||
<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
|
||||
<precision>0.005</precision>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
</sensor>
|
||||
|
||||
<visual name="camera_mount_base_visual">
|
||||
<pose>0.05 0 -0.030 0 0.0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.06 0.06 0.006</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="camera_mount_arm_visual">
|
||||
<pose>0.08 0 -0.040 0 0.0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.005</radius>
|
||||
<length>0.08</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="camera_mount_arm2_visual">
|
||||
<pose>0.08 0 -0.08 0 1.57 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.025</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="camera_visual">
|
||||
<pose>0.1 0 -0.08 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.025 0.025</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
<sensor name="camera_front" type="rgbd_camera">
|
||||
<pose>0.2 0 0 0 +.785 0</pose>
|
||||
<always_on>1</always_on>
|
||||
<update_rate>20</update_rate>
|
||||
<camera name="camera_front">
|
||||
<horizontal_fov>1.0472</horizontal_fov>
|
||||
<lens>
|
||||
<intrinsics>
|
||||
<!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
|
||||
<fx>277.1</fx>
|
||||
<fy>277.1</fy>
|
||||
<!-- cx = ( width + 1 ) / 2 -->
|
||||
<cx>160.5</cx>
|
||||
<!-- cy = ( height + 1 ) / 2 -->
|
||||
<cy>120.5</cy>
|
||||
<s>0</s>
|
||||
</intrinsics>
|
||||
</lens>
|
||||
<distortion>
|
||||
<k1>0.0</k1>
|
||||
<k2>0.0</k2>
|
||||
<k3>0.0</k3>
|
||||
<p1>0.0</p1>
|
||||
<p2>0.0</p2>
|
||||
<center>0.5 0.5</center>
|
||||
</distortion>
|
||||
<image>
|
||||
<width>320</width>
|
||||
<height>240</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.01</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<depth_camera>
|
||||
<clip>
|
||||
<near>0.1</near>
|
||||
<far>10</far>
|
||||
</clip>
|
||||
</depth_camera>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="rotor_0">
|
||||
<pose frame="">0.247 0.1506 0.028 0.087267 0 0.523599</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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_0_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_0_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>1 0 0 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Red</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_0_joint" type="revolute">
|
||||
<child>rotor_0</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0.043578 -0.075479 0.996195</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="rotor_1">
|
||||
<pose frame="">-0.00067 0.28929 0.028 0 -0.087267 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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_1_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_1_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0 0 1 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_1_joint" type="revolute">
|
||||
<child>rotor_1</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>-0.087156 0 0.996195</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="rotor_2">
|
||||
<pose frame="">-0.2501 0.1454 0.028 0.087267 -0 2.61799</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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_2_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_2_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0 0 1 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_2_joint" type="revolute">
|
||||
<child>rotor_2</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0.043578 0.075479 0.996195</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="rotor_3">
|
||||
<pose frame="">-0.2501 -0.1454 0.028 -0.087267 -0 -2.61799</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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_3_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_3_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0 0 1 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_3_joint" type="revolute">
|
||||
<child>rotor_3</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0.043578 -0.075479 0.996195</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="rotor_4">
|
||||
<pose frame="">-0.00067 -0.28929 0.028 -0 0.087267 -3.14159</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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_4_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_4_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0 0 1 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Blue</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_4_joint" type="revolute">
|
||||
<child>rotor_4</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>-0.087156 -0 0.996195</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="rotor_5">
|
||||
<pose frame="">0.247 -0.1506 0.028 -0.087267 0 -0.523599</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>8.13545e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>8.22545e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="rotor_5_collision">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1397</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode />
|
||||
</contact>
|
||||
<friction>
|
||||
<ode />
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="rotor_5_visual">
|
||||
<pose frame="">0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/neo11_propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>1 0 0 1</diffuse>
|
||||
<script>
|
||||
<name>Gazebo/Red</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>0</cast_shadows>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay />
|
||||
</link>
|
||||
<joint name="rotor_5_joint" type="revolute">
|
||||
<child>rotor_5</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0.043578 0.075479 0.996195</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="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_4_joint</jointName>
|
||||
<linkName>rotor_4</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>4</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x4</robotNamespace>
|
||||
<jointName>rotor_5_joint</jointName>
|
||||
<linkName>rotor_5</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0182</timeConstantUp>
|
||||
<timeConstantDown>0.0182</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>1.269e-05</motorConstant>
|
||||
<momentConstant>0.016754</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>5</motorNumber>
|
||||
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
|
||||
<rotorDragCoefficient>0</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
|
||||
<plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
|
||||
<dimensions>3</dimensions>
|
||||
<odom_frame>x4/odom</odom_frame>
|
||||
<robot_base_frame>x4/base_footprint</robot_base_frame>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
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|
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|
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|
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|
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|
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@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>x500-Base</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
</author>
|
||||
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
|
||||
</model>
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@@ -0,0 +1,516 @@
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<uri>model://x500-Base/meshes/1345_prop_cw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="rotor_3_visual_motor_top">
|
||||
<pose>0 0 -.032 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_3_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_3_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_3</child>
|
||||
<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>
|
||||
</model>
|
||||
</sdf>
|
||||
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|
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|
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|
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|
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|
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@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>x500-Depth</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
</author>
|
||||
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
|
||||
</model>
|
||||
@@ -0,0 +1,85 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Depth'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-Base</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500-Depth</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500-Depth</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500-Depth</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500-Depth</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<include merge='true'>
|
||||
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
|
||||
<pose>.12 .03 .242 0 0 0</pose>
|
||||
</include>
|
||||
<joint name="CameraJoint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>OakD-Lite/base_link</child>
|
||||
<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
||||
Binary file not shown.
|
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|
After Width: | Height: | Size: 50 KiB |
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|
After Width: | Height: | Size: 27 KiB |
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|
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|
After Width: | Height: | Size: 23 KiB |
@@ -2,7 +2,7 @@
|
||||
<model>
|
||||
<name>x500</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
|
||||
@@ -1,520 +1,11 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.6'>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500'>
|
||||
<pose>0 0 .24 0 0 0</pose>
|
||||
<self_collide>false</self_collide>
|
||||
<static>false</static>
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<mass>2.0</mass>
|
||||
<inertia>
|
||||
<ixx>0.02166666666666667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.02166666666666667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.04000000000000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="base_link_visual">
|
||||
<pose>0 0 .025 0 0 3.141592654</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/NXP-HGD-CF.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="5010_motor_base_0">
|
||||
<pose>0.174 0.174 .032 0 0 -.45</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="5010_motor_base_1">
|
||||
<pose>-0.174 0.174 .032 0 0 -.45</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="5010_motor_base_2">
|
||||
<pose>0.174 -0.174 .032 0 0 -.45</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="5010_motor_base_3">
|
||||
<pose>-0.174 -0.174 .032 0 0 -.45</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name="NXP_FMUK66_FRONT">
|
||||
<pose>0.047 .001 .043 1 0 1.57</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>.013 .007</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>1.0 1.0 1.0</diffuse>
|
||||
<specular>1.0 1.0 1.0</specular>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="NXP_FMUK66_TOP">
|
||||
<pose>-0.023 0 .0515 0 0 -1.57</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>.013 .007</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>1.0 1.0 1.0</diffuse>
|
||||
<specular>1.0 1.0 1.0</specular>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>model://x500/materials/textures/nxp.png</albedo_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="RDDRONE_FMUK66_TOP">
|
||||
<pose>-.03 0 .0515 0 0 -1.57</pose>
|
||||
<cast_shadows>false</cast_shadows>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>.032 .0034</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>1.0 1.0 1.0</diffuse>
|
||||
<specular>1.0 1.0 1.0</specular>
|
||||
<pbr>
|
||||
<metal>
|
||||
<albedo_map>model://x500/materials/textures/rd.png</albedo_map>
|
||||
</metal>
|
||||
</pbr>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="base_link_collision_0">
|
||||
<pose>0 0 .007 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.35355339059327373 0.35355339059327373 0.05</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name="base_link_collision_1">
|
||||
<pose>0 -0.098 -.123 -0.35 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.015 0.015 0.21</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name="base_link_collision_2">
|
||||
<pose>0 0.098 -.123 0.35 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.015 0.015 0.21</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name="base_link_collision_3">
|
||||
<pose>0 -0.132 -.2195 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.25 0.015 0.015</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name="base_link_collision_4">
|
||||
<pose>0 0.132 -.2195 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.25 0.015 0.015</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="rotor_0">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>0.174 -0.174 0.06 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_0_visual">
|
||||
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
|
||||
<uri>model://x500/meshes/1345_prop_ccw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="rotor_0_visual_motor_bell">
|
||||
<pose>0 0 -.032 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Bell.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_0_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_0_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_0</child>
|
||||
<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="rotor_1">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.174 0.174 0.06 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_1_visual">
|
||||
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
|
||||
<uri>model://x500/meshes/1345_prop_ccw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="rotor_1_visual_motor_top">
|
||||
<pose>0 0 -.032 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Bell.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_1_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_1_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_1</child>
|
||||
<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="rotor_2">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>0.174 0.174 0.06 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_2_visual">
|
||||
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
|
||||
<uri>model://x500/meshes/1345_prop_cw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="rotor_2_visual_motor_top">
|
||||
<pose>0 0 -.032 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Bell.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_2_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_2_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_2</child>
|
||||
<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="rotor_3">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.174 -0.174 0.06 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_3_visual">
|
||||
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
|
||||
<uri>model://x500/meshes/1345_prop_cw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="rotor_3_visual_motor_top">
|
||||
<pose>0 0 -.032 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500/meshes/5010Bell.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_3_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_3_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_3</child>
|
||||
<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="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
|
||||
<include merge='true'>
|
||||
<uri>model://x500-Base</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<robotNamespace>model/x500</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -531,7 +22,7 @@
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<robotNamespace>model/x500</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -548,7 +39,7 @@
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<robotNamespace>model/x500</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -565,7 +56,7 @@
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>x500</robotNamespace>
|
||||
<robotNamespace>model/x500</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -582,4 +73,4 @@
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
</sdf>
|
||||
|
||||
@@ -9,6 +9,7 @@
|
||||
<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'>
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
|
||||
Reference in New Issue
Block a user