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Fix motor layout for hexacopter_x

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This commit is contained in:
Jaeyoung-Lim
2022-08-14 17:14:25 +02:00
parent 70697cd41c
commit c0dec6cb6c
1 changed files with 27 additions and 27 deletions
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Tools/simulation/gazebo/models/X4/model.sdf
+27 -27
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@@ -712,18 +712,18 @@
<robotNamespace>X4</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<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>0</motorNumber>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
@@ -731,7 +731,7 @@
<robotNamespace>X4</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>cw</turningDirection>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
@@ -750,18 +750,18 @@
<robotNamespace>X4</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>ccw</turningDirection>
<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>2</motorNumber>
<motorNumber>5</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
@@ -769,7 +769,7 @@
<robotNamespace>X4</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
@@ -788,6 +788,25 @@
<robotNamespace>X4</robotNamespace>
<jointName>rotor_4_joint</jointName>
<linkName>rotor_4</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>0</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rotorDragCoefficient>0</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<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>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
@@ -803,25 +822,6 @@
<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>
<motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>