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new Ignition Gazebo simulation interface architecture (#20057)
- much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
This commit is contained in:
Daniel Agar
co-authored by
Jaeyoung-Lim
Jaeyoung-Lim
parent
889a2fddea
commit
cfc579542e
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<?xml version="1.0"?>
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<model>
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<name>x3</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Carlos Aguero</name>
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<email>caguero@openrobotics.org</email>
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</author>
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<author>
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<name>Cole Biesemeyer</name>
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<email>cole@openrobotics.org</email>
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</author>
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<description>
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</description>
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</model>
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.6">
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<model name="x3">
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<link name="base_link">
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<pose frame="">0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>1.5</mass>
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<uri>meshes/x3.dae</uri>
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<always_on>1</always_on>
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</sensor>
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</link>
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<link name="rotor_0">
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<ode />
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<visual name="rotor_0_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_0_joint" type="revolute">
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<child>rotor_0</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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<link name="rotor_1">
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<pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<iyy>4.17041e-05</iyy>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_1_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<ode />
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_1_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_1_joint" type="revolute">
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<child>rotor_1</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="rotor_2">
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<pose frame="">0.13 0.22 0.023 0 -0 0</pose>
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<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
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<collision name="rotor_2_collision">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode />
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</contact>
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<friction>
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<ode />
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</friction>
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</surface>
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</collision>
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<visual name="rotor_2_visual">
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<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_cw.dae</uri>
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</mesh>
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</geometry>
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||||
<material>
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||||
<script>
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||||
<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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||||
</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_2_joint" type="revolute">
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<child>rotor_2</child>
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<parent>base_link</parent>
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||||
<axis>
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||||
<xyz>0 0 1</xyz>
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<limit>
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||||
<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="rotor_3">
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<pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
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||||
<inertial>
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<pose frame="">0 0 0 0 -0 0</pose>
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||||
<mass>0.005</mass>
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<inertia>
|
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>4.17041e-05</iyy>
|
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<iyz>0</iyz>
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<izz>4.26041e-05</izz>
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</inertia>
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</inertial>
|
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<collision name="rotor_3_collision">
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||||
<pose frame="">0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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||||
<radius>0.1</radius>
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||||
</cylinder>
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</geometry>
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<surface>
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||||
<contact>
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||||
<ode />
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||||
</contact>
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<friction>
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||||
<ode />
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||||
</friction>
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||||
</surface>
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||||
</collision>
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||||
<visual name="rotor_3_visual">
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||||
<pose frame="">0 0 0 0 -0 0</pose>
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||||
<geometry>
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||||
<mesh>
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||||
<scale>0.1 0.1 0.1</scale>
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<uri>meshes/propeller_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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||||
<name>Gazebo/Red</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay />
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</link>
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<joint name="rotor_3_joint" type="revolute">
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<child>rotor_3</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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||||
<limit>
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||||
<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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||||
<dynamics>
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||||
<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>x3</robotNamespace>
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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</model>
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||||
</sdf>
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Block a user