mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 16:57:35 +08:00
Use new MotorModel, spawn or connect to existing.
remove vscode changes.
This commit is contained in:
Benjamin Perseghetti
@@ -8,8 +8,7 @@
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||||
. ${R}etc/init.d/rc.mc_defaults
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||||
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||||
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
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||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
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||||
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
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||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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||||
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param set-default SYS_CTRL_ALLOC 1
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||||
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||||
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||||
@@ -24,24 +24,53 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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if [ -z $ign_world ]; then
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# starting ign gazebo with ${PX4_SIM_WORLD} world
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# starting ign gazebo with ${PX4_GZ_WORLD} world
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echo "INFO [init] starting ign gazebo"
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if [ -z $HEADLESS ]; then
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ign gazebo --verbose=1 -r "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
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ign gazebo --verbose=1 -r "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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else
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# starting ign gazebo headless
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ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
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ign gazebo --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
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fi
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else
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echo "INFO [init] ign gazebo already running world: $ign_world"
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PX4_SIM_WORLD=$ign_world
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PX4_GZ_WORLD=$ign_world
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fi
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if [ -z $PX4_IGN_MODEL_POSE ]; then
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# start ignition bridge without pose arg.
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echo "WARN [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
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if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
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if [ ! -z $PX4_GZ_MODEL ]; then
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if [ -z $PX4_GZ_MODEL_POSE ]; then
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# start ignition bridge without pose arg.
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echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
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if simulator_ignition_bridge start -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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else
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# Clean potential input line formatting.
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model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
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# start ignition bridge with pose arg.
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if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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fi
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elif [ ! -z $PX4_GZ_MODEL_NAME ]; then
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if simulator_ignition_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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@@ -49,24 +78,13 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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else
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# Clean potential input line formatting.
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model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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echo "INFO [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
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# start ignition bridge with pose arg.
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if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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echo "ERROR [init] failed to pass PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
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exit 1
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fi
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else
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# otherwise start simulator (mavlink) module
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simulator_tcp_port=$((4560+px4_instance))
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@@ -1,11 +0,0 @@
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<?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>
|
||||
@@ -1,516 +0,0 @@
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||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Base'>
|
||||
<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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-Base/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-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>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://x500-Base/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-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>
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 32 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 51 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 28 KiB |
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|
Before Width: | Height: | Size: 27 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 23 KiB |
@@ -2,76 +2,8 @@
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Depth'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-Base</uri>
|
||||
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/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>
|
||||
|
||||
@@ -2,75 +2,7 @@
|
||||
<sdf version='1.9'>
|
||||
<model name='x500'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-Base</uri>
|
||||
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500</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</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</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</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>
|
||||
|
||||
@@ -79,14 +79,14 @@ foreach(model ${ign_models})
|
||||
|
||||
if(world_name MATCHES "default")
|
||||
add_custom_target(ign_${model}
|
||||
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
|
||||
COMMAND ${CMAKE_COMMAND} -E env PX4_GZ_MODEL=${model} $<TARGET_FILE:px4>
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS px4
|
||||
)
|
||||
else()
|
||||
add_custom_target(ign_${model}_${world_name}
|
||||
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
|
||||
COMMAND ${CMAKE_COMMAND} -E env PX4_GZ_MODEL=${model} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
|
||||
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
||||
USES_TERMINAL
|
||||
DEPENDS px4
|
||||
|
||||
@@ -42,10 +42,12 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
|
||||
SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str) :
|
||||
SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *name, const char *model,
|
||||
const char *pose_str) :
|
||||
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
|
||||
_world_name(world),
|
||||
_model_name(model),
|
||||
_model_name(name),
|
||||
_model_sim(model),
|
||||
_model_pose(pose_str)
|
||||
{
|
||||
pthread_mutex_init(&_mutex, nullptr);
|
||||
@@ -64,65 +66,67 @@ SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
|
||||
|
||||
int SimulatorIgnitionBridge::init()
|
||||
{
|
||||
// service call to create model
|
||||
// ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
|
||||
ignition::msgs::EntityFactory req{};
|
||||
req.set_sdf_filename(_model_name + "/model.sdf");
|
||||
if (!_model_sim.empty()) {
|
||||
|
||||
// TODO: support model instances?
|
||||
// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
|
||||
req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
|
||||
// service call to create model
|
||||
// ign service -s /world/${PX4_GZ_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_GZ_MODEL}/model.sdf\""
|
||||
ignition::msgs::EntityFactory req{};
|
||||
req.set_sdf_filename(_model_sim + "/model.sdf");
|
||||
|
||||
if (!_model_pose.empty()) {
|
||||
PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
|
||||
req.set_name(_model_name); // New name for the entity, overrides the name on the SDF.
|
||||
|
||||
std::vector<float> model_pose_v;
|
||||
req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
|
||||
|
||||
std::stringstream ss(_model_pose);
|
||||
if (!_model_pose.empty()) {
|
||||
PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
|
||||
|
||||
while (ss.good()) {
|
||||
std::string substr;
|
||||
std::getline(ss, substr, ',');
|
||||
model_pose_v.push_back(std::stof(substr));
|
||||
std::vector<float> model_pose_v;
|
||||
|
||||
std::stringstream ss(_model_pose);
|
||||
|
||||
while (ss.good()) {
|
||||
std::string substr;
|
||||
std::getline(ss, substr, ',');
|
||||
model_pose_v.push_back(std::stof(substr));
|
||||
}
|
||||
|
||||
while (model_pose_v.size() < 6) {
|
||||
model_pose_v.push_back(0.0);
|
||||
}
|
||||
|
||||
ignition::msgs::Pose *p = req.mutable_pose();
|
||||
ignition::msgs::Vector3d *position = p->mutable_position();
|
||||
position->set_x(model_pose_v[0]);
|
||||
position->set_y(model_pose_v[1]);
|
||||
position->set_z(model_pose_v[2]);
|
||||
|
||||
ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
|
||||
|
||||
q.Normalize();
|
||||
ignition::msgs::Quaternion *orientation = p->mutable_orientation();
|
||||
orientation->set_x(q.X());
|
||||
orientation->set_y(q.Y());
|
||||
orientation->set_z(q.Z());
|
||||
orientation->set_w(q.W());
|
||||
}
|
||||
|
||||
while (model_pose_v.size() < 6) {
|
||||
model_pose_v.push_back(0.0);
|
||||
}
|
||||
//world/$WORLD/create service.
|
||||
ignition::msgs::Boolean rep;
|
||||
bool result;
|
||||
std::string create_service = "/world/" + _world_name + "/create";
|
||||
|
||||
ignition::msgs::Pose *p = req.mutable_pose();
|
||||
ignition::msgs::Vector3d *position = p->mutable_position();
|
||||
position->set_x(model_pose_v[0]);
|
||||
position->set_y(model_pose_v[1]);
|
||||
position->set_z(model_pose_v[2]);
|
||||
if (_node.Request(create_service, req, 1000, rep, result)) {
|
||||
if (!rep.data() || !result) {
|
||||
PX4_ERR("EntityFactory service call failed");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
|
||||
|
||||
q.Normalize();
|
||||
ignition::msgs::Quaternion *orientation = p->mutable_orientation();
|
||||
orientation->set_x(q.X());
|
||||
orientation->set_y(q.Y());
|
||||
orientation->set_z(q.Z());
|
||||
orientation->set_w(q.W());
|
||||
}
|
||||
|
||||
//world/$WORLD/create service.
|
||||
ignition::msgs::Boolean rep;
|
||||
bool result;
|
||||
std::string create_service = "/world/" + _world_name + "/create";
|
||||
|
||||
if (_node.Request(create_service, req, 1000, rep, result)) {
|
||||
if (!rep.data() || !result) {
|
||||
PX4_ERR("EntityFactory service call failed");
|
||||
} else {
|
||||
PX4_ERR("Service call timed out");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_ERR("Service call timed out");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
|
||||
// clock
|
||||
std::string clock_topic = "/world/" + _world_name + "/clock";
|
||||
|
||||
@@ -169,6 +173,8 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
|
||||
const char *world_name = "default";
|
||||
const char *model_name = nullptr;
|
||||
const char *model_pose = nullptr;
|
||||
const char *model_sim = nullptr;
|
||||
const char *px4_instance = nullptr;
|
||||
|
||||
|
||||
bool error_flag = false;
|
||||
@@ -176,14 +182,14 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
|
||||
int ch;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "w:m:p:", &myoptind, &myoptarg)) != EOF) {
|
||||
while ((ch = px4_getopt(argc, argv, "w:m:p:i:n:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'w':
|
||||
// world
|
||||
world_name = myoptarg;
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
case 'n':
|
||||
// model
|
||||
model_name = myoptarg;
|
||||
break;
|
||||
@@ -193,6 +199,16 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
|
||||
model_pose = myoptarg;
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
// pose
|
||||
model_sim = myoptarg;
|
||||
break;
|
||||
|
||||
case 'i':
|
||||
// pose
|
||||
px4_instance = myoptarg;
|
||||
break;
|
||||
|
||||
case '?':
|
||||
error_flag = true;
|
||||
break;
|
||||
@@ -208,13 +224,27 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
PX4_INFO("world: %s, model: %s", world_name, model_name);
|
||||
|
||||
if (!model_pose) {
|
||||
model_pose = "";
|
||||
}
|
||||
|
||||
SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_pose);
|
||||
if (!model_sim) {
|
||||
model_sim = "";
|
||||
}
|
||||
|
||||
if (!px4_instance) {
|
||||
if (!model_name) {
|
||||
model_name = model_sim;
|
||||
}
|
||||
|
||||
} else if (!model_name) {
|
||||
std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
|
||||
model_name = model_name_std.c_str();
|
||||
}
|
||||
|
||||
PX4_INFO("world: %s, model name: %s, simulation model: %s", world_name, model_name, model_sim);
|
||||
|
||||
SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_sim, model_pose);
|
||||
|
||||
if (instance) {
|
||||
_object.store(instance);
|
||||
@@ -510,8 +540,10 @@ int SimulatorIgnitionBridge::print_usage(const char *reason)
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Fuel model name", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, nullptr, "Model Pose", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Model name", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('i', nullptr, nullptr, "PX4 instance", false);
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
|
||||
@@ -62,7 +62,7 @@ using namespace time_literals;
|
||||
class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str);
|
||||
SimulatorIgnitionBridge(const char *world, const char *name, const char *model, const char *pose_str);
|
||||
~SimulatorIgnitionBridge() override;
|
||||
|
||||
/** @see ModuleBase */
|
||||
@@ -118,6 +118,7 @@ private:
|
||||
|
||||
const std::string _world_name;
|
||||
const std::string _model_name;
|
||||
const std::string _model_sim;
|
||||
const std::string _model_pose;
|
||||
|
||||
MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env bash
|
||||
|
||||
export PX4_IGN_GAZEBO_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/models
|
||||
export PX4_IGN_GAZEBO_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/worlds
|
||||
export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/models
|
||||
export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/worlds
|
||||
|
||||
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_IGN_GAZEBO_MODELS
|
||||
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS
|
||||
|
||||
Reference in New Issue
Block a user