mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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291 lines
11 KiB
XML
291 lines
11 KiB
XML
<?xml version="1.0" ?>
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<!--
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........... ____ _ __
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| ,-^-, | / __ )(_) /_______________ _____ ___
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| ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
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| / ,..´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
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+....... /_____/_/\__/\___/_/ \__,_/ /___/\___/
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MIT License
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Copyright (c) 2022 Bitcraze
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-->
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<model name="crazyflie">
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<uri>model://crazyflie/meshes/collada_files/cf2_assembly.dae</uri>
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<child>crazyflie/m2_prop</child>
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<xyz>0 0 1</xyz>
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<lower>-1e+16</lower>
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<joint name="crazyflie/m3_joint" type="revolute">
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<child>crazyflie/m3_prop</child>
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<parent>crazyflie/body</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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<dynamics>
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<joint name="crazyflie/m4_joint" type="revolute">
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<child>crazyflie/m4_prop</child>
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<parent>crazyflie/body</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<lower>-1e+16</lower>
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</dynamics>
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</axis>
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</joint>
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<plugin
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filename="ignition-gazebo-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<robotNamespace>crazyflie</robotNamespace>
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<jointName>crazyflie/m1_joint</jointName>
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<linkName>crazyflie/m1_prop</linkName>
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<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin
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filename="ignition-gazebo-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<robotNamespace>crazyflie</robotNamespace>
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<jointName>crazyflie/m2_joint</jointName>
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<linkName>crazyflie/m2_prop</linkName>
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<turningDirection>cw</turningDirection>
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<maxRotVelocity>2618</maxRotVelocity>
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<motorConstant>1.28192e-08</motorConstant>
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<momentConstant>0.005964552</momentConstant>
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<commandSubTopic>gazebo/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>0.0000001</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin
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filename="ignition-gazebo-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<robotNamespace>crazyflie</robotNamespace>
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<jointName>crazyflie/m3_joint</jointName>
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<linkName>crazyflie/m3_prop</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>2618</maxRotVelocity>
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<motorConstant>1.28192e-08</motorConstant>
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<momentConstant>0.005964552</momentConstant>
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<commandSubTopic>gazebo/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>0.0000001</rollingMomentCoefficient>
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<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin
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filename="ignition-gazebo-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<robotNamespace>crazyflie</robotNamespace>
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<jointName>crazyflie/m4_joint</jointName>
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<linkName>crazyflie/m4_prop</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<maxRotVelocity>2618</maxRotVelocity>
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<motorConstant>1.28192e-08</motorConstant>
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<momentConstant>0.005964552</momentConstant>
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<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin
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filename="ignition-gazebo-odometry-publisher-system"
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name="ignition::gazebo::systems::OdometryPublisher">
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<dimensions>3</dimensions>
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</plugin>
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</model>
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</sdf>
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