Gazebo Simulation Enablement (#20319)

2026-10-23 04:33:34 +08:00 · 2022-09-29 13:49:31 -04:00
parent f89df9d986
commit f9522e831c
48 changed files with 269 additions and 2269 deletions
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500-Depth</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>
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500</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>
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+  </model>
+</sdf>
@@ -0,0 +1,146 @@
+<sdf version='1.9'>
+  <world name='default'>
+    <physics type="ode">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>250</real_time_update_rate>
+    </physics>
+    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
+    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
+    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
+    <plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
+    <plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
+    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <gui fullscreen='false'>
+      <plugin name='3D View' filename='GzScene3D'>
+        <ignition-gui>
+          <title>3D View</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='string' key='state'>docked</property>
+        </ignition-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
+        <background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
+        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+      </plugin>
+      <plugin name='World control' filename='WorldControl'>
+        <ignition-gui>
+          <title>World control</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='bool' key='resizable'>0</property>
+          <property type='double' key='height'>72</property>
+          <property type='double' key='width'>121</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='left' target='left'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </ignition-gui>
+        <play_pause>1</play_pause>
+        <step>1</step>
+        <start_paused>1</start_paused>
+      </plugin>
+      <plugin name='World stats' filename='WorldStats'>
+        <ignition-gui>
+          <title>World stats</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='bool' key='resizable'>0</property>
+          <property type='double' key='height'>110</property>
+          <property type='double' key='width'>290</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='right' target='right'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </ignition-gui>
+        <sim_time>1</sim_time>
+        <real_time>1</real_time>
+        <real_time_factor>1</real_time_factor>
+        <iterations>1</iterations>
+      </plugin>
+      <plugin name='Entity tree' filename='EntityTree'/>
+    </gui>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <scene>
+      <grid>false</grid>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+    <model name='ground_plane'>
+      <static>true</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>1 1</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>1</mass>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <enable_wind>false</enable_wind>
+      </link>
+      <pose>0 0 0 0 -0 0</pose>
+      <self_collide>false</self_collide>
+    </model>
+    <light name='sunUTC' type='directional'>
+      <pose>0 0 500 0 -0 0</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>1</intensity>
+      <direction>0.001 0.625 -0.78</direction>
+      <diffuse>0.904 0.904 0.904 1</diffuse>
+      <specular>0.271 0.271 0.271 1</specular>
+      <attenuation>
+        <range>2000</range>
+        <linear>0</linear>
+        <constant>1</constant>
+        <quadratic>0</quadratic>
+      </attenuation>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+  </world>
+</sdf>