diff --git a/f450/f450.sdf b/f450/f450.sdf deleted file mode 100644 index d1ea134939196ab19fc8d0b3804ffeb905a22d8e..0000000000000000000000000000000000000000 --- a/f450/f450.sdf +++ /dev/null @@ -1,1231 +0,0 @@ -<?xml version='1.0'?> -<sdf version='1.5'> - <model name='f450'> - <link name='base_link'> - <pose frame=''>0 0 0 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>2</mass> - <inertia> - <ixx>0.0337</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.0337</iyy> - <iyz>0</iyz> - <izz>0.0185</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <velocity_decay/> - <gravity>1</gravity> - <visual name='base_link_inertia_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <scale>1 1 1</scale> - <uri>model://f450/meshes/f450.dae</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/White</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - <ambient>1 1 1 1</ambient> - <diffuse>1 1 1 1</diffuse> - <specular>0 0 0 1</specular> - <emissive>0 0 0 1</emissive> - <shader type='vertex'> - <normal_map>__default__</normal_map> - </shader> - </material> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - </visual> - <collision name='base_link_inertia_collision'> - <laser_retro>0</laser_retro> - <max_contacts>10</max_contacts> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <uri>model://f450/meshes/f450.dae</uri> - </mesh> - </geometry> - <surface> - <friction> - <ode> - <mu>1</mu> - <mu2>1</mu2> - <fdir1>0 0 0</fdir1> - <slip1>0</slip1> - <slip2>0</slip2> - </ode> - </friction> - <bounce> - <restitution_coefficient>0</restitution_coefficient> - <threshold>1e+06</threshold> - </bounce> - <contact> - <collide_without_contact>0</collide_without_contact> - <collide_without_contact_bitmask>1</collide_without_contact_bitmask> - <collide_bitmask>1</collide_bitmask> - <ode> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - <max_vel>0.01</max_vel> - <min_depth>0</min_depth> - </ode> - <bullet> - <split_impulse>1</split_impulse> - <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - </bullet> - </contact> - </surface> - </collision> - </link> - <link name='/imu_link'> - <pose frame=''>0 0 0 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.015</mass> - <inertia> - <ixx>1e-05</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>1e-05</iyy> - <iyz>0</iyz> - <izz>1e-05</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - </link> - - <link name='f450/robot_camera'> - <pose frame=''>0.12 -0 0.06 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.015</mass> - <inertia> - <ixx>1e-06</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>1e-06</iyy> - <iyz>0</iyz> - <izz>1e-06</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <sensor name='camera' type='camera'> - <always_on>1</always_on> - <update_rate>30</update_rate> - <camera name='__default__'> - <horizontal_fov>1</horizontal_fov> - <image> - <width>640</width> - <height>480</height> - </image> - <clip> - <near>0.1</near> - <far>100</far> - </clip> - </camera> - <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'> - <alwaysOn>true</alwaysOn> - <imageTopicName>image_raw_front</imageTopicName> - <cameraInfoTopicName>camera_info</cameraInfoTopicName> - <updateRate>10.0</updateRate> - <cameraName>uav_camera</cameraName> - <frameName>f450/robot_camera</frameName> - <CxPrime>320.5</CxPrime> - <Cx>320.5</Cx> - <Cy>240.5</Cy> - <hackBaseline>0</hackBaseline> - <focalLength>10</focalLength> - <distortionK1>0.0</distortionK1> - <distortionK2>0.0</distortionK2> - <distortionK3>0.0</distortionK3> - <distortionT1>0.0</distortionT1> - <distortionT2>0.0</distortionT2> - <robotNamespace>/</robotNamespace> - </plugin> - </sensor> - <visual name='visual'> - <geometry> - <box> - <size>0.001 0.001 0.001</size> - </box> - </geometry> - <pose frame=''>0 0 0 0 -0 0</pose> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - <material> - <shader type='pixel'/> - </material> - </visual> - </link> - <link name='f450/robot_camera_down'> - <pose frame=''>-0.12 -0 0.01 -9.4e-05 1.57079 -9.4e-05</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.015</mass> - <inertia> - <ixx>1e-06</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>1e-06</iyy> - <iyz>0</iyz> - <izz>1e-06</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <sensor name='camera' type='camera'> - <always_on>1</always_on> - <update_rate>30</update_rate> - <camera name='__default__'> - <horizontal_fov>1</horizontal_fov> - <image> - <width>640</width> - <height>480</height> - </image> - <clip> - <near>0.1</near> - <far>100</far> - </clip> - </camera> - <plugin name='camera_plugin' filename='libgazebo_ros_camera.so'> - <alwaysOn>true</alwaysOn> - <imageTopicName>image_raw_down</imageTopicName> - <cameraInfoTopicName>camera_info</cameraInfoTopicName> - <updateRate>10.0</updateRate> - <cameraName>uav_camera</cameraName> - <frameName>f450/robot_camera_down</frameName> - <CxPrime>320.5</CxPrime> - <Cx>320.5</Cx> - <Cy>240.5</Cy> - <hackBaseline>0</hackBaseline> - <focalLength>1</focalLength> - <distortionK1>0.0</distortionK1> - <distortionK2>0.0</distortionK2> - <distortionK3>0.0</distortionK3> - <distortionT1>0.0</distortionT1> - <distortionT2>0.0</distortionT2> - <robotNamespace>/</robotNamespace> - </plugin> - </sensor> - <visual name='visual'> - <geometry> - <box> - <size>0.001 0.001 0.001</size> - </box> - </geometry> - <pose frame=''>0 0 0 0 -0 0</pose> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - <material> - <shader type='pixel'/> - </material> - </visual> - </link> - <link name='f450/robot_sonar_down'> - <pose frame=''>-0.15 0 0.01 -9.4e-05 1.57079 -9.4e-05</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.015</mass> - <inertia> - <ixx>1e-06</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>1e-06</iyy> - <iyz>0</iyz> - <izz>1e-06</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <sensor name='sonar' type='ray'> - <always_on>1</always_on> - <update_rate>100</update_rate> - <ray> - <range> - <min>0.2</min> - <max>40</max> - <resolution>0.01</resolution> - </range> - <scan> - <horizontal> - <samples>100</samples> - <min_angle>-3</min_angle> - <max_angle>3</max_angle> - <resolution>1</resolution> - </horizontal> - </scan> - </ray> - <plugin name='gazebo_ros_sonar_controller' filename='libhector_gazebo_ros_sonar.so'> - <gaussianNoise>0.02</gaussianNoise> - <topicName>sonar</topicName> - <frameId>sonar_link</frameId> - <robotNamespace>/</robotNamespace> - </plugin> - </sensor> - <visual name='visual'> - <geometry> - <box> - <size>0.001 0.001 0.001</size> - </box> - </geometry> - <pose frame=''>0 0 0 0 -0 0</pose> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - <material> - <shader type='pixel'/> - </material> - </visual> - </link> - <link name='rotor_0'> - <pose frame=''>0.159 -0.159 0.11 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.005</mass> - <inertia> - <ixx>9.75e-07</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.000273104</iyy> - <iyz>0</iyz> - <izz>0.000274004</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <velocity_decay/> - <visual name='rotor_0_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <scale>1 1 1</scale> - <uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/Green</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - <ambient>0 1 0 1</ambient> - <diffuse>0 1 0 1</diffuse> - <specular>0.1 0.1 0.1 1</specular> - <emissive>0 0 0 1</emissive> - <shader type='pixel'/> - </material> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - </visual> - <collision name='rotor_0_collision'> - <laser_retro>0</laser_retro> - <max_contacts>10</max_contacts> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.128</radius> - <length>0.005</length> - </cylinder> - </geometry> - <surface> - <friction> - <ode> - <mu>1</mu> - <mu2>1</mu2> - <fdir1>0 0 0</fdir1> - <slip1>0</slip1> - <slip2>0</slip2> - </ode> - </friction> - <bounce> - <restitution_coefficient>0</restitution_coefficient> - <threshold>1e+06</threshold> - </bounce> - <contact> - <collide_without_contact>0</collide_without_contact> - <collide_without_contact_bitmask>1</collide_without_contact_bitmask> - <collide_bitmask>1</collide_bitmask> - <ode> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - <max_vel>0.01</max_vel> - <min_depth>0</min_depth> - </ode> - <bullet> - <split_impulse>1</split_impulse> - <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - </bullet> - </contact> - </surface> - </collision> - </link> - <link name='rotor_1'> - <pose frame=''>-0.159 0.159 0.11 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.005</mass> - <inertia> - <ixx>9.75e-07</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.000273104</iyy> - <iyz>0</iyz> - <izz>0.000274004</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <velocity_decay/> - <visual name='rotor_1_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <scale>1 1 1</scale> - <uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/Red</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - <ambient>1 0 0 1</ambient> - <diffuse>1 0 0 1</diffuse> - <specular>0.1 0.1 0.1 1</specular> - <emissive>0 0 0 1</emissive> - <shader type='pixel'/> - </material> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - </visual> - <collision name='rotor_1_collision'> - <laser_retro>0</laser_retro> - <max_contacts>10</max_contacts> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.128</radius> - <length>0.005</length> - </cylinder> - </geometry> - <surface> - <friction> - <ode> - <mu>1</mu> - <mu2>1</mu2> - <fdir1>0 0 0</fdir1> - <slip1>0</slip1> - <slip2>0</slip2> - </ode> - </friction> - <bounce> - <restitution_coefficient>0</restitution_coefficient> - <threshold>1e+06</threshold> - </bounce> - <contact> - <collide_without_contact>0</collide_without_contact> - <collide_without_contact_bitmask>1</collide_without_contact_bitmask> - <collide_bitmask>1</collide_bitmask> - <ode> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - <max_vel>0.01</max_vel> - <min_depth>0</min_depth> - </ode> - <bullet> - <split_impulse>1</split_impulse> - <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - </bullet> - </contact> - </surface> - </collision> - </link> - <link name='rotor_2'> - <pose frame=''>0.159 0.159 0.11 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.005</mass> - <inertia> - <ixx>9.75e-07</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.000273104</iyy> - <iyz>0</iyz> - <izz>0.000274004</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <velocity_decay/> - <visual name='rotor_2_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <scale>1 1 1</scale> - <uri>model://rotors_description/meshes/iris_prop_cw.dae</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/Green</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - <ambient>0 1 0 1</ambient> - <diffuse>0 1 0 1</diffuse> - <specular>0.1 0.1 0.1 1</specular> - <emissive>0 0 0 1</emissive> - <shader type='pixel'/> - </material> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - </visual> - <collision name='rotor_2_collision'> - <laser_retro>0</laser_retro> - <max_contacts>10</max_contacts> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.128</radius> - <length>0.005</length> - </cylinder> - </geometry> - <surface> - <friction> - <ode> - <mu>1</mu> - <mu2>1</mu2> - <fdir1>0 0 0</fdir1> - <slip1>0</slip1> - <slip2>0</slip2> - </ode> - </friction> - <bounce> - <restitution_coefficient>0</restitution_coefficient> - <threshold>1e+06</threshold> - </bounce> - <contact> - <collide_without_contact>0</collide_without_contact> - <collide_without_contact_bitmask>1</collide_without_contact_bitmask> - <collide_bitmask>1</collide_bitmask> - <ode> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - <max_vel>0.01</max_vel> - <min_depth>0</min_depth> - </ode> - <bullet> - <split_impulse>1</split_impulse> - <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - </bullet> - </contact> - </surface> - </collision> - </link> - <link name='rotor_3'> - <pose frame=''>-0.159 -0.159 0.11 0 -0 0</pose> - <inertial> - <pose frame=''>0 0 0 0 -0 0</pose> - <mass>0.005</mass> - <inertia> - <ixx>9.75e-07</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.000273104</iyy> - <iyz>0</iyz> - <izz>0.000274004</izz> - </inertia> - </inertial> - <self_collide>0</self_collide> - <kinematic>0</kinematic> - <velocity_decay/> - <visual name='rotor_3_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <mesh> - <scale>1 1 1</scale> - <uri>model://rotors_description/meshes/iris_prop_cw.dae</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/Red</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - <ambient>1 0 0 1</ambient> - <diffuse>1 0 0 1</diffuse> - <specular>0.1 0.1 0.1 1</specular> - <emissive>0 0 0 1</emissive> - <shader type='pixel'/> - </material> - <cast_shadows>1</cast_shadows> - <transparency>0</transparency> - </visual> - <collision name='rotor_3_collision'> - <laser_retro>0</laser_retro> - <max_contacts>10</max_contacts> - <pose frame=''>0 0 0 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.128</radius> - <length>0.005</length> - </cylinder> - </geometry> - <surface> - <friction> - <ode> - <mu>1</mu> - <mu2>1</mu2> - <fdir1>0 0 0</fdir1> - <slip1>0</slip1> - <slip2>0</slip2> - </ode> - </friction> - <bounce> - <restitution_coefficient>0</restitution_coefficient> - <threshold>1e+06</threshold> - </bounce> - <contact> - <collide_without_contact>0</collide_without_contact> - <collide_without_contact_bitmask>1</collide_without_contact_bitmask> - <collide_bitmask>1</collide_bitmask> - <ode> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - <max_vel>0.01</max_vel> - <min_depth>0</min_depth> - </ode> - <bullet> - <split_impulse>1</split_impulse> - <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> - <soft_cfm>0</soft_cfm> - <soft_erp>0.2</soft_erp> - <kp>1e+13</kp> - <kd>1</kd> - </bullet> - </contact> - </surface> - </collision> - </link> - <joint name='/imu_joint' type='revolute'> - <parent>base_link</parent> - <child>/imu_link</child> - <axis> - <xyz>1 0 0</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - - <joint name='f450/down_cam_joint' type='revolute'> - <parent>base_link</parent> - <child>f450/robot_camera_down</child> - <axis> - <xyz>1 0 0</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='f450/down_sonar_joint' type='revolute'> - <parent>base_link</parent> - <child>f450/robot_sonar_down</child> - <axis> - <xyz>1 0 0</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='f450/front_cam_joint' type='revolute'> - <parent>base_link</parent> - <child>f450/robot_camera</child> - <axis> - <xyz>1 0 0</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>0</lower> - <upper>0</upper> - <effort>0</effort> - <velocity>0</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='rotor_0_joint' type='revolute'> - <parent>base_link</parent> - <child>rotor_0</child> - <axis> - <xyz>0 0 1</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>-1e+16</lower> - <upper>1e+16</upper> - <effort>-1</effort> - <velocity>-1</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='rotor_1_joint' type='revolute'> - <parent>base_link</parent> - <child>rotor_1</child> - <axis> - <xyz>0 0 1</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>-1e+16</lower> - <upper>1e+16</upper> - <effort>-1</effort> - <velocity>-1</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='rotor_2_joint' type='revolute'> - <parent>base_link</parent> - <child>rotor_2</child> - <axis> - <xyz>0 0 1</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>-1e+16</lower> - <upper>1e+16</upper> - <effort>-1</effort> - <velocity>-1</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <joint name='rotor_3_joint' type='revolute'> - <parent>base_link</parent> - <child>rotor_3</child> - <axis> - <xyz>0 0 1</xyz> - <use_parent_model_frame>1</use_parent_model_frame> - <limit> - <lower>-1e+16</lower> - <upper>1e+16</upper> - <effort>-1</effort> - <velocity>-1</velocity> - </limit> - <dynamics> - <spring_reference>0</spring_reference> - <spring_stiffness>0</spring_stiffness> - <damping>0</damping> - <friction>0</friction> - </dynamics> - </axis> - <physics> - <ode> - <limit> - <cfm>0</cfm> - <erp>0.2</erp> - </limit> - <suspension> - <cfm>0</cfm> - <erp>0.2</erp> - </suspension> - </ode> - </physics> - </joint> - <static>0</static> - <allow_auto_disable>1</allow_auto_disable> - <plugin name='rosbag' filename='librotors_gazebo_multirotor_base_plugin.so'> - <robotNamespace/> - <linkName>base_link</linkName> - <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> - </plugin> - <plugin name='front_right_motor_model' filename='librotors_gazebo_motor_model.so'> - <robotNamespace/> - <jointName>rotor_0_joint</jointName> - <linkName>rotor_0</linkName> - <turningDirection>ccw</turningDirection> - <timeConstantUp>0.0125</timeConstantUp> - <timeConstantDown>0.025</timeConstantDown> - <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-06</motorConstant> - <momentConstant>0.06</momentConstant> - <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> - <motorNumber>0</motorNumber> - <rotorDragCoefficient>0.000806428</rotorDragCoefficient> - <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> - <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic> - <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> - </plugin> - <plugin name='back_left_motor_model' filename='librotors_gazebo_motor_model.so'> - <robotNamespace/> - <jointName>rotor_1_joint</jointName> - <linkName>rotor_1</linkName> - <turningDirection>ccw</turningDirection> - <timeConstantUp>0.0125</timeConstantUp> - <timeConstantDown>0.025</timeConstantDown> - <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-06</motorConstant> - <momentConstant>0.06</momentConstant> - <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> - <motorNumber>1</motorNumber> - <rotorDragCoefficient>0.000806428</rotorDragCoefficient> - <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> - <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic> - <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> - </plugin> - <plugin name='front_left_motor_model' filename='librotors_gazebo_motor_model.so'> - <robotNamespace/> - <jointName>rotor_2_joint</jointName> - <linkName>rotor_2</linkName> - <turningDirection>cw</turningDirection> - <timeConstantUp>0.0125</timeConstantUp> - <timeConstantDown>0.025</timeConstantDown> - <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-06</motorConstant> - <momentConstant>0.06</momentConstant> - <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> - <motorNumber>2</motorNumber> - <rotorDragCoefficient>0.000806428</rotorDragCoefficient> - <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> - <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic> - <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> - </plugin> - <plugin name='back_right_motor_model' filename='librotors_gazebo_motor_model.so'> - <robotNamespace/> - <jointName>rotor_3_joint</jointName> - <linkName>rotor_3</linkName> - <turningDirection>cw</turningDirection> - <timeConstantUp>0.0125</timeConstantUp> - <timeConstantDown>0.025</timeConstantDown> - <maxRotVelocity>1100</maxRotVelocity> - <motorConstant>8.54858e-06</motorConstant> - <momentConstant>0.06</momentConstant> - <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic> - <motorNumber>3</motorNumber> - <rotorDragCoefficient>0.000806428</rotorDragCoefficient> - <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> - <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic> - <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim> - </plugin> - <plugin name='mavlink_interface' filename='librotors_gazebo_mavlink_interface.so'> - <robotNamespace/> - <imuSubTopic>/imu</imuSubTopic> - <mavlink_addr>INADDR_ANY</mavlink_addr> - <mavlink_udp_port>14560</mavlink_udp_port> - <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic> - <control_channels> - <channel name='rotor1'> - <input_index>0</input_index> - <input_offset>1</input_offset> - <input_scaling>550</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>100</zero_position_armed> - <joint_control_type>velocity</joint_control_type> - </channel> - <channel name='rotor2'> - <input_index>1</input_index> - <input_offset>1</input_offset> - <input_scaling>550</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>100</zero_position_armed> - <joint_control_type>velocity</joint_control_type> - </channel> - <channel name='rotor3'> - <input_index>2</input_index> - <input_offset>1</input_offset> - <input_scaling>550</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>100</zero_position_armed> - <joint_control_type>velocity</joint_control_type> - </channel> - <channel name='rotor4'> - <input_index>3</input_index> - <input_offset>1</input_offset> - <input_scaling>550</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>100</zero_position_armed> - <joint_control_type>velocity</joint_control_type> - </channel> - <channel name='rotor5'> - <input_index>4</input_index> - <input_offset>1</input_offset> - <input_scaling>324.6</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>0</zero_position_armed> - <joint_control_type>velocity</joint_control_type> - <joint_control_pid> - <p>0.1</p> - <i>0</i> - <d>0</d> - <iMax>0.0</iMax> - <iMin>0.0</iMin> - <cmdMax>2</cmdMax> - <cmdMin>-2</cmdMin> - </joint_control_pid> - <joint_name>zephyr_delta_wing::propeller_joint</joint_name> - </channel> - <channel name='rotor6'> - <input_index>5</input_index> - <input_offset>0</input_offset> - <input_scaling>0.524</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>0</zero_position_armed> - <joint_control_type>position</joint_control_type> - <joint_name>zephyr_delta_wing::flap_left_joint</joint_name> - <joint_control_pid> - <p>10.0</p> - <i>0</i> - <d>0</d> - <iMax>0</iMax> - <iMin>0</iMin> - <cmdMax>20</cmdMax> - <cmdMin>-20</cmdMin> - </joint_control_pid> - </channel> - <channel name='rotor7'> - <input_index>6</input_index> - <input_offset>0</input_offset> - <input_scaling>0.524</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>0</zero_position_armed> - <joint_control_type>position</joint_control_type> - <joint_name>zephyr_delta_wing::flap_right_joint</joint_name> - <joint_control_pid> - <p>10.0</p> - <i>0</i> - <d>0</d> - <iMax>0</iMax> - <iMin>0</iMin> - <cmdMax>20</cmdMax> - <cmdMin>-20</cmdMin> - </joint_control_pid> - </channel> - <channel name='rotor8'> - <input_index>7</input_index> - <input_offset>0</input_offset> - <input_scaling>0.524</input_scaling> - <zero_position_disarmed>0</zero_position_disarmed> - <zero_position_armed>0</zero_position_armed> - <joint_control_type>position</joint_control_type> - </channel> - </control_channels> - </plugin> - <plugin name='rotors_gazebo_imu_plugin' filename='librotors_gazebo_imu_plugin.so'> - <robotNamespace/> - <linkName>/imu_link</linkName> - <imuTopic>/imu</imuTopic> - <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity> - <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk> - <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime> - <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma> - <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity> - <accelerometerRandomWalk>0.006</accelerometerRandomWalk> - <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime> - <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma> - </plugin> - -<!-- #################################### HOKUYO SENSOR ############################################--> - - <!-- Hokuyo Laser --> - <link name="hokuyo_link"> - <inertial> - <mass>0.01</mass> - <inertia> - <ixx>0.01</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.01</iyy> - <iyz>0</iyz> - <izz>0.01</izz> - </inertia> - </inertial> - - <visual name="visual"> - <pose> 0.03 -0.035 0.105 1.57 0 3.14</pose> - <geometry> - <mesh> - <scale>0.0005 0.0005 0.0005</scale> - <uri>model://hokuyo/meshes/TOWER.STL</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/DarkGrey</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - </material> - </visual> - -<!-- ################################# HOKUYO PLUGIN #################################################--> - - <sensor type="ray" name="laser"> - <pose>-0.005 -0.00 0.125 0 0 0</pose> - <visualize>true</visualize> - <update_rate>10</update_rate> - <ray> - <scan> - <horizontal> - <samples>3</samples> - <resolution>1</resolution> - <min_angle>-1.57</min_angle> - <max_angle>1.57</max_angle> - </horizontal> - </scan> - <range> - <min>0.20</min> - <max>7.0</max> - <resolution>0.01</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - - <plugin name="link_laser_controller" filename="libgazebo_ros_laser.so"> - <topicName>laser_scan</topicName> - <frameName>hokuyo_link</frameName> - </plugin> - </sensor> - </link> - <joint name='lidar_joint' type='fixed'> - <child>hokuyo_link</child> - <parent>base_link</parent> - </joint> -<! #################################### HOKUYO SENSOR (GROUND) ############################################--> - - <!-- Hokuyo Laser --> - <link name="hokuyo_link_2"> - <inertial> - <mass>0.01</mass> - <inertia> - <ixx>0.01</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.01</iyy> - <iyz>0</iyz> - <izz>0.01</izz> - </inertia> - </inertial> - - <visual name="visualground"> - <pose> 0.27 -0.024 0.045 -1.57 0 1.57</pose> - <geometry> - <mesh> - <scale>0.001 0.001 0.001</scale> - <uri>model://hokuyo/meshes/LIDAR.STL</uri> - </mesh> - </geometry> - <material> - <script> - <name>Gazebo/DarkGrey</name> - <uri>file://media/materials/scripts/gazebo.material</uri> - </script> - </material> - </visual> -<! ################################# HOKUYO PLUGIN #################################################--> - - <sensor type="ray" name="laser"> - <pose>0.265 0 0 0 1.57 3.14</pose> - <visualize>true</visualize> - <update_rate>10</update_rate> - <ray> - <scan> - <horizontal> - <samples>3</samples> - <resolution>1</resolution> - <min_angle>-0.005</min_angle> - <max_angle>0.005</max_angle> - </horizontal> - </scan> - <range> - <min>0.01</min> - <max>40.0</max> - <resolution>0.01</resolution> - </range> - <noise> - <type>gaussian</type> - <mean>0.0</mean> - <stddev>0.01</stddev> - </noise> - </ray> - - <plugin name="link_laser_controller" filename="libgazebo_ros_laser.so"> - <topicName>laser_height</topicName> - <frameName>hokuyo_link</frameName> - </plugin> - </sensor> - </link> - <joint name='lidar_ground_joint' type='fixed'> - <child>hokuyo_link_2</child> - <parent>base_link</parent> - </joint> - - - </model> -</sdf>