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new Gazebo simulation handle older gz versions (#20342)

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This commit is contained in:
Benjamin Perseghetti
2022-10-02 21:30:30 -04:00
committed by GitHub
parent f4d2e176ae
commit aa2b47845a
25 changed files with 2102 additions and 1 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+14
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@@ -41,6 +41,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
fi
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
echo "INFO [init] using latest version of MultiCopterMotor plugin."
else
echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
if [ "$PX4_SIM_MODEL" = "x500" ]; then
PX4_SIM_MODEL="x500-Legacy"
echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
fi
fi
if [ -z $gz_world ]; then
Tools/simulation/gz/models/x500-Legacy/model.config
+11
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<model>
<name>x500-Legacy</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>
Tools/simulation/gz/models/x500-Legacy/model.sdf
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@@ -0,0 +1,76 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-Legacy'>
<include merge='true'>
<uri>model://x500-NoPlugin</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>/x500-Legacy_0</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>/x500-Legacy_0</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>/x500-Legacy_0</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>/x500-Legacy_0</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>
</model>
</sdf>
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Tools/simulation/gz/models/x500-NoPlugin/meshes/5010Base.dae
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Tools/simulation/gz/models/x500-NoPlugin/meshes/5010Bell.dae
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Tools/simulation/gz/models/x500-NoPlugin/meshes/NXP-HGD-CF.dae
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Tools/simulation/gz/models/x500-NoPlugin/model.config
+11
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<model>
<name>x500-NoPlugin</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>
Tools/simulation/gz/models/x500-NoPlugin/model.sdf
+516
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@@ -0,0 +1,516 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-NoPlugin'>
<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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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-NoPlugin/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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Tools/simulation/gz/models/x500/model.sdf
+65 -1
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@@ -2,7 +2,71 @@
<sdf version='1.9'>
<model name='x500'>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
<uri>model://x500-NoPlugin</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<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">
<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">
<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">
<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>
</model>
</sdf>