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Rover: Simulation Update (#25644)

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* gz: update submodule

* rover: update simulation airframes

* docs: rover simulation
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chfriedrich98 2025-10-01 09:04:07 +02:00 committed by GitHub
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13 changed files with 93 additions and 64 deletions
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3
ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
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@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
param set-default RD_WHEEL_TRACK 0.6
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_YAW_STK_GAIN 0.6
# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 400
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Attitude Control Parameters
param set-default RO_YAW_P 5

40
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann → ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
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@ -1,5 +1,5 @@
#!/bin/sh
# @name Rover Ackermann
# @name Generic Ackermann Rover
# @type Rover
# @class Rover
@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_WHEEL_BASE 0.5
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_ACC_RAD_MAX 1.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 130
param set-default RO_YAW_ACCEL_LIM 800
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Rover Attitude Control Parameters
# Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
# Velocity Control Parameters
param set-default RO_ACCEL_LIM 4
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
# Wheels
param set-default SIM_GZ_WH_FUNC1 101
param set-default SIM_GZ_WH_MIN1 0
param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
# Steering

33
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum → ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
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@ -1,5 +1,5 @@
#!/bin/sh
# @name Aion Robotics R1 Rover
# @name Generic Mecanum Rover
# @type Rover
# @class Rover
@ -7,14 +7,15 @@
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_WHEEL_TRACK 0.6
param set-default RM_YAW_STK_GAIN 0.6
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.75
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
# Velocity Control Parameters
param set-default RO_ACCEL_LIM 4
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 0.5
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
param set-default SENS_EN_MAGSIM 1
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
param set-default SIM_GZ_WH_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100
param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
param set-default SIM_GZ_WH_MIN3 70
param set-default SIM_GZ_WH_MAX3 130
param set-default SIM_GZ_WH_DIS3 100
param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
param set-default SIM_GZ_WH_MIN4 70
param set-default SIM_GZ_WH_MAX4 130
param set-default SIM_GZ_WH_DIS4 100
param set-default SIM_GZ_WH_REV 10
param set-default SIM_GZ_WH_REV 0

4
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -80,10 +80,8 @@ px4_add_romfs_files(
4009_gz_r1_rover
4010_gz_x500_mono_cam
4011_gz_lawnmower
4012_gz_rover_ackermann
4013_gz_x500_lidar_2d
4014_gz_x500_mono_cam_down
4015_gz_r1_rover_mecanum
4016_gz_x500_lidar_down
4017_gz_x500_lidar_front
4018_gz_quadtailsitter
@ -114,6 +112,8 @@ px4_add_romfs_files(
17002_flightgear_tf-g2
50000_gz_rover_differential
51000_gz_rover_ackermann
52000_gz_rover_mecanum
60002_gz_uuv_bluerov2_heavy

2
Tools/simulation/gz

@ -1 +1 @@
Subproject commit 6cfb3e362e1424caccb7363dca7e63484e44d188
Subproject commit b6127f4ec20de867e215fb5f78ae88b80f371909

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3
docs/en/frames_rover/index.md
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@ -64,9 +64,10 @@ Each wheel is driven by its own motor, and by controlling the speed and directio
## Simulation
[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers:
PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)

6
docs/en/releases/main.md
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@ -58,7 +58,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Simulation
- TBD
- Overhaul rover simulation:
- Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
- Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
- Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
### Ethernet
@ -91,6 +94,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
- Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
### ROS 2

10
docs/en/sim_gazebo_gz/index.md
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@ -51,7 +51,7 @@ The supported vehicles and `make` commands are listed below.
Note that all gazebo make targets have the prefix `gz_`.
| Vehicle | Command | `PX4_SYS_AUTOSTART` |
| ----------------------------------------------------------------------------------------------------------------------------- | ----------------------------------- | ------------------- |
| ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
@ -62,10 +62,12 @@ Note that all gazebo make targets have the prefix `gz_`.
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_rover_differential` | 50000 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 51000 |
| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) | `make px4_sitl gz_rover_mecanum` | 52000 |
All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
@ -165,7 +167,7 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500
The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.
| World | Command | Description |
| ----------------- | ---------------------------------- | ----------------------------------------------------------- |
| ----------------- | --------------------------------- | ----------------------------------------------------------- |
| `default` | `make px4_sitl *` | Empty world (a grey plane) |
| `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing |
| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water |

12
docs/en/sim_gazebo_gz/vehicles.md
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@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor
[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_r1_rover
make px4_sitl gz_rover_differential
```
![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png)
@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann
```
![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png)
### Mecanum Rover
[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_rover_mecanum
```
![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)