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Add some fixes to foxtech loong (#21016)

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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
2023-01-27 09:47:21 -05:00
committed by GitHub
parent 65ada8fc11
commit f5389654c2
3 changed files with 1759 additions and 41 deletions
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Tools/simulation/gz/models/foxtech_loong_2160/meshes/legs.dae
+1708
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File diff suppressed because it is too large Load Diff
Tools/simulation/gz/models/foxtech_loong_2160/model.sdf
+50 -41
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@@ -1,6 +1,7 @@
<?xml version="1.0"?>
<sdf version="1.9">
<model name="foxtech">
<pose>0 0 0.5 0 0 0</pose>
<link name="base_link">
<visual name="visual_base_link">
<geometry>
@@ -33,6 +34,30 @@
<update_rate>250</update_rate>
</sensor>
</link>
<link name="legs_link">
<visual name="visual_legs_link">
<geometry>
<mesh>
<uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1.0</ambient>
<diffuse>1 1 1 1.0</diffuse>
</material>
</visual>
<collision name="collision_legs_link">
<geometry>
<mesh>
<uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
</mesh>
</geometry>
</collision>
</link>
<joint name='legs_joint' type='fixed'>
<child>legs_link</child>
<parent>base_link</parent>
</joint>
<link name="airspeed_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
@@ -109,16 +134,13 @@
<parent>base_link</parent>
<child>aileron_left_link</child>
<axis>
<xyz>1 0 0</xyz>
<xyz>-1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1.000</damping>
</dynamics>
</axis>
</joint>
@@ -155,16 +177,13 @@
<parent>base_link</parent>
<child>aileron_right_link</child>
<axis>
<xyz>1 0 0</xyz>
<xyz>-1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1.000</damping>
</dynamics>
</axis>
</joint>
@@ -203,14 +222,11 @@
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1.000</damping>
</dynamics>
</axis>
</joint>
@@ -249,14 +265,11 @@
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1.000</damping>
</dynamics>
</axis>
</joint>
@@ -276,7 +289,7 @@
</mesh>
</geometry>
</collision>
<inertial>
<inertial>p
<pose>3.0720176589210631e-09 -0.014597633583934367 -0.00023793299837082617 -0.00096325055376496349 0 0</pose>
<mass>0.08686124232617691</mass>
<inertia>
@@ -293,16 +306,13 @@
<parent>base_link</parent>
<child>rudder_link</child>
<axis>
<xyz>1 0 0</xyz>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>1.000</damping>
</dynamics>
</axis>
</joint>
@@ -310,7 +320,7 @@
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.427 0.403 0.083 0 0 0</pose>
<pose>0.427 -0.403 0.083 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
@@ -365,7 +375,7 @@
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.427 -0.403 0.083 0 0 0</pose>
<pose>-0.427 0.403 0.083 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
@@ -420,7 +430,7 @@
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>-0.427 0.403 0.083 0 0 0</pose>
<pose>0.427 0.403 0.083 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
@@ -475,7 +485,7 @@
<gravity>true</gravity>
<self_collide>false</self_collide>
<velocity_decay/>
<pose>0.427 -0.403 0.083 0 0 0</pose>
<pose>-0.427 -0.403 0.083 0 0 0</pose>
<inertial>
<mass>0.016076923076923075</mass>
<inertia>
@@ -527,7 +537,7 @@
</axis>
</joint>
<link name='rotor_puller'>
<pose>0.0 0.379 0.0 -1.57 0 0</pose>
<pose>0.0 0.379 0.0 -1.57 1.57 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
@@ -568,6 +578,7 @@
<self_collide>0</self_collide>
</link>
<joint name='rotor_puller_joint' type='revolute'>
<pose>0.0 0 0.0 0 -1.57 0</pose>
<child>rotor_puller</child>
<parent>base_link</parent>
<axis>
@@ -616,7 +627,6 @@
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
@@ -635,7 +645,6 @@
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
Tools/simulation/gz/models/standard_vtol/model.sdf
+1
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@@ -486,6 +486,7 @@
<self_collide>0</self_collide>
</link>
<joint name='rotor_puller_joint' type='revolute'>
<pose>0.0 0 0.0 0 -1.57 0</pose>
<child>rotor_puller</child>
<parent>base_link</parent>
<axis>