forked from xtdrone/XTDrone
623 lines
20 KiB
XML
623 lines
20 KiB
XML
<?xml version="1.0" ?>
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<sdf version='1.5'>
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<model name='iris_downward_camera'>
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<!--iris body-->
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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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<inertia>
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<ixx>0.029125</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.029125</iyy>
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<iyz>0</iyz>
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<izz>0.055225</izz>
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</inertia>
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</inertial>
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<collision name='base_link_inertia_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.11</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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='base_link_inertia_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>1 1 1</scale>
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<uri>model://rotors_description/meshes/iris.stl</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/DarkGrey</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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<link name='/imu_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>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-05</iyy>
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<iyz>0</iyz>
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<izz>1e-05</izz>
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</inertia>
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</inertial>
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</link>
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<joint name='/imu_joint' type='revolute'>
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<child>/imu_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<effort>0</effort>
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<velocity>0</velocity>
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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_0'>
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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>0.000273104</iyy>
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<iyz>0</iyz>
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<izz>0.000274004</izz>
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</inertia>
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</inertial>
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<collision name='rotor_0_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>0.128</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_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>1 1 1</scale>
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<uri>model://rotors_description/meshes/iris_prop_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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</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_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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</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_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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<ixz>0</ixz>
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<iyy>0.000273104</iyy>
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<iyz>0</iyz>
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<izz>0.000274004</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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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.128</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_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>1 1 1</scale>
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<uri>model://rotors_description/meshes/iris_prop_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/DarkGrey</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>0.000273104</iyy>
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<iyz>0</iyz>
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<izz>0.000274004</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>0.128</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>1 1 1</scale>
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<uri>model://rotors_description/meshes/iris_prop_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>0.000273104</iyy>
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<iyz>0</iyz>
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<izz>0.000274004</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>0.128</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>1 1 1</scale>
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<uri>model://rotors_description/meshes/iris_prop_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/DarkGrey</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 name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
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<robotNamespace/>
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<linkName>base_link</linkName>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
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<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>1100</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
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<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>1100</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
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<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>1100</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
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<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>1100</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
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</plugin>
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<plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
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<robotNamespace/>
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<gpsNoise>1</gpsNoise>
|
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</plugin>
|
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<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
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<robotNamespace/>
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<pubRate>100</pubRate>
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<noiseDensity>0.0004</noiseDensity>
|
|
<randomWalk>6.4e-06</randomWalk>
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|
<biasCorrelationTime>600</biasCorrelationTime>
|
|
<magTopic>/mag</magTopic>
|
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</plugin>
|
|
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
|
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<robotNamespace/>
|
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<pubRate>50</pubRate>
|
|
<baroTopic>/baro</baroTopic>
|
|
</plugin>
|
|
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
|
|
<robotNamespace/>
|
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<imuSubTopic>/imu</imuSubTopic>
|
|
<gpsSubTopic>/gps</gpsSubTopic>
|
|
<magSubTopic>/mag</magSubTopic>
|
|
<baroSubTopic>/baro</baroSubTopic>
|
|
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
|
<mavlink_udp_port>14560</mavlink_udp_port>
|
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<mavlink_tcp_port>4560</mavlink_tcp_port>
|
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<serialEnabled>0</serialEnabled>
|
|
<serialDevice>/dev/ttyACM0</serialDevice>
|
|
<baudRate>921600</baudRate>
|
|
<qgc_addr>INADDR_ANY</qgc_addr>
|
|
<qgc_udp_port>14550</qgc_udp_port>
|
|
<sdk_addr>INADDR_ANY</sdk_addr>
|
|
<sdk_udp_port>14540</sdk_udp_port>
|
|
<hil_mode>0</hil_mode>
|
|
<hil_state_level>0</hil_state_level>
|
|
<vehicle_is_tailsitter>0</vehicle_is_tailsitter>
|
|
<send_vision_estimation>1</send_vision_estimation>
|
|
<send_odometry>0</send_odometry>
|
|
<enable_lockstep>1</enable_lockstep>
|
|
<use_tcp>1</use_tcp>
|
|
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
|
|
<control_channels>
|
|
<channel name='rotor1'>
|
|
<input_index>0</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</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>0</input_offset>
|
|
<input_scaling>1000</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>0</input_offset>
|
|
<input_scaling>1000</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>0</input_offset>
|
|
<input_scaling>1000</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>
|
|
<static>0</static>
|
|
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
|
|
<robotNamespace/>
|
|
<linkName>/imu_link</linkName>
|
|
<imuTopic>/imu</imuTopic>
|
|
<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
|
|
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
|
|
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
|
|
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
|
|
<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
|
|
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
|
|
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
|
|
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
|
|
</plugin>
|
|
|
|
|
|
|
|
<include>
|
|
<uri>model://monocular_camera</uri>
|
|
<pose>0 0 -0.05 0 1.5707963 0</pose>
|
|
</include>
|
|
<joint name="monocular_down_joint" type="fixed">
|
|
<child>monocular_camera::link</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<upper>0</upper>
|
|
<lower>0</lower>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
|
|
<!-- For IMU-->
|
|
<include>
|
|
<uri>model://imu_gazebo</uri>
|
|
<pose>0 0 0.3 0 0 0</pose>
|
|
</include>
|
|
<joint name="imu_gazebo_joint" type="fixed">
|
|
<child>imu_gazebo::link</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<upper>0</upper>
|
|
<lower>0</lower>
|
|
</limit>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|
|
<!-- vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
|
|
|
|
|
|
|
|