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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Multi-Vehicle Ignition Gazebo Simulation (#20154)
This commit is contained in:
Benjamin Perseghetti
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||||
<?xml version="1.0"?>
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||||
<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>
|
||||
@@ -0,0 +1,516 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500-Base'>
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<pose>0 0 .24 0 0 0</pose>
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<self_collide>false</self_collide>
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<static>false</static>
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<link name="base_link">
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<mass>2.0</mass>
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<izz>0.04000000000000001</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="base_link_visual">
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<pose>0 0 .025 0 0 3.141592654</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://x500-Base/meshes/NXP-HGD-CF.dae</uri>
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</mesh>
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</geometry>
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<scale>1 1 1</scale>
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<uri>model://x500-Base/meshes/5010Base.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name="NXP_FMUK66_FRONT">
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<pbr>
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</material>
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<visual name="NXP_FMUK66_TOP">
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<size>.013 .007</size>
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<metal>
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<albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
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</metal>
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</pbr>
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</material>
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<visual name="RDDRONE_FMUK66_TOP">
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<plane>
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<pbr>
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<metal>
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<albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
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<collision name="base_link_collision_0">
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<box>
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<ode/>
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</collision>
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<collision name="base_link_collision_2">
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<pose>0 0.098 -.123 0.35 0 0</pose>
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<geometry>
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<box>
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<friction>
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<ode/>
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<collision name="base_link_collision_3">
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<box>
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<box>
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<ode>
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<min_depth>0.001</min_depth>
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</contact>
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<friction>
|
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<ode/>
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||||
<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>
|
||||
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|
||||
<velocity_decay/>
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||||
<pose>0.174 -0.174 0.06 0 0 0</pose>
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||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
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<inertia>
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||||
<ixx>3.8464910483993325e-07</ixx>
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<iyy>2.6115851691700804e-05</iyy>
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<izz>2.649858234714004e-05</izz>
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||||
<mesh>
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||||
<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
|
||||
<uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
|
||||
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||||
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||||
<visual name="rotor_0_visual_motor_bell">
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||||
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|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
|
||||
</mesh>
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||||
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||||
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||||
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||||
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|
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||||
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|
||||
<ode/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="rotor_0_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
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|
||||
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|
||||
<xyz>0 0 1</xyz>
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||||
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|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<pose>-0.174 0.174 0.06 0 0 0</pose>
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||||
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||||
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||||
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<mesh>
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||||
<uri>model://x500-Base/meshes/1345_prop_ccw.stl</uri>
|
||||
</mesh>
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||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/DarkGrey</name>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
</script>
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||||
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<visual name="rotor_1_visual_motor_top">
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||||
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|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
|
||||
</mesh>
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<collision name="rotor_1_collision">
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||||
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<ode/>
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||||
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|
||||
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|
||||
<joint name="rotor_1_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_1</child>
|
||||
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|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
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|
||||
<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>
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||||
<velocity_decay/>
|
||||
<pose>0.174 0.174 0.06 0 0 0</pose>
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||||
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|
||||
<mass>0.016076923076923075</mass>
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||||
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|
||||
<ixx>3.8464910483993325e-07</ixx>
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||||
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||||
<izz>2.649858234714004e-05</izz>
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||||
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<visual name="rotor_2_visual">
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||||
<pose>-0.022 -0.14638461538461536 -0.016 0 0 0</pose>
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||||
<mesh>
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<scale>0.8461538461538461 0.8461538461538461 0.8461538461538461</scale>
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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_2_visual_motor_top">
|
||||
<pose>0 0 -.032 0 0 0</pose>
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||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500-Base/meshes/5010Bell.dae</uri>
|
||||
</mesh>
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||||
</geometry>
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||||
</visual>
|
||||
<collision name="rotor_2_collision">
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||||
<pose>0 0 0 0 0 0 </pose>
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<box>
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<surface>
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<contact>
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||||
<ode>
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||||
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|
||||
<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-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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Reference in New Issue
Block a user