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DroneControl/iq_sim/models/drone_with_sonar/model.sdf

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<?xml version='1.0'?>
<sdf version="1.6" >
<model name="drone_with_sonar">
<include>
<uri>model://iris_base</uri>
</include>
<!-- Sonar Sensor -->
<link name="base_sonar_front">
<pose>0.18 0 .2 0 0 0</pose>
<collision name="sonar_collision">
<geometry>
<box>
<size>.01 .01 .01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<sensor type="ray" name="sonar_sensor">
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.06</min>
<max>7</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range_iq.so" name="gazebo_ros_range2">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>/mavros/distance_sensor/front</topicName>
<frameName>base_sonar_front</frameName>
<radiation>INFRARED</radiation>
<fov>0.2967</fov>
</plugin>
</sensor>
</link>
<joint type="fixed" name="base_sonar_joint">
<pose>0 0 0 0 0 0</pose>
<parent>iris::base_link</parent>
<child>base_sonar_front</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<!-- Sonar Sensor -->
<link name="base_sonar_left">
<pose>0 0.18 .2 0 0 1.57</pose>
<collision name="sonar_collision">
<geometry>
<box>
<size>.01 .01 .01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<sensor type="ray" name="sonar_sensor">
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.06</min>
<max>7</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range_iq.so" name="gazebo_ros_range2">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>/mavros/distance_sensor/left</topicName>
<frameName>base_sonar_left</frameName>
<radiation>INFRARED</radiation>
<fov>0.2967</fov>
</plugin>
</sensor>
</link>
<joint type="fixed" name="base_sonar_joint_left">
<pose>0 0 0 0 0 0</pose>
<parent>iris::base_link</parent>
<child>base_sonar_left</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<!-- Sonar Sensor -->
<link name="base_sonar_right">
<pose>0 -0.18 .2 0 0 -1.57</pose>
<collision name="sonar_collision">
<geometry>
<box>
<size>.01 .01 .01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<sensor type="ray" name="sonar_sensor">
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.06</min>
<max>7</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range_iq.so" name="gazebo_ros_range2">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>/mavros/distance_sensor/right</topicName>
<frameName>base_sonar_right</frameName>
<radiation>INFRARED</radiation>
<fov>0.2967</fov>
</plugin>
</sensor>
</link>
<joint type="fixed" name="base_sonar_joint_right">
<pose>0 0 0 0 0 0</pose>
<parent>iris::base_link</parent>
<child>base_sonar_right</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<!-- Sonar Sensor -->
<link name="base_sonar_back">
<pose>-0.18 0 0.2 0 0 3.14</pose>
<collision name="sonar_collision">
<geometry>
<box>
<size>.01 .01 .01</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.01 0.01 0.01</size>
</box>
</geometry>
</visual>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<sensor type="ray" name="sonar_sensor">
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.06</min>
<max>7</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range_iq.so" name="gazebo_ros_range2">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>/mavros/distance_sensor/back</topicName>
<frameName>base_sonar_back</frameName>
<radiation>INFRARED</radiation>
<fov>0.2967</fov>
</plugin>
</sensor>
</link>
<joint type="fixed" name="base_sonar_joint_back">
<pose>0 0 0 0 0 0</pose>
<parent>iris::base_link</parent>
<child>base_sonar_back</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<!-- plugins -->
<plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_0</link_name>
</plugin>
<plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_0</link_name>
</plugin>
<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_1</link_name>
</plugin>
<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_1</link_name>
</plugin>
<plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_2</link_name>
</plugin>
<plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_2</link_name>
</plugin>
<plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_3</link_name>
</plugin>
<plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
<area>0.002</area>
<air_density>1.2041</air_density>
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris::rotor_3</link_name>
</plugin>
<plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<fdm_port_out>9003</fdm_port_out>
<!--
Require by APM :
Only change model and gazebo from XYZ to XY-Z coordinates
-->
<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
<imuName>iris::iris/imu_link::imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<control channel="0">
<!--
incoming control command [0, 1]
so offset it by 0 to get [0, 1]
and divide max target by 1.
offset = 0
multiplier = 838 max rpm / 1 = 838
-->
<type>VELOCITY</type>
<offset>0</offset>
<p_gain>0.20</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>2.5</cmd_max>
<cmd_min>-2.5</cmd_min>
<jointName>iris::rotor_0_joint</jointName>
<multiplier>838</multiplier>
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>
<control channel="1">
<type>VELOCITY</type>
<offset>0</offset>
<p_gain>0.20</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>2.5</cmd_max>
<cmd_min>-2.5</cmd_min>
<jointName>iris::rotor_1_joint</jointName>
<multiplier>838</multiplier>
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>
<control channel="2">
<type>VELOCITY</type>
<offset>0</offset>
<p_gain>0.20</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>2.5</cmd_max>
<cmd_min>-2.5</cmd_min>
<jointName>iris::rotor_2_joint</jointName>
<multiplier>-838</multiplier>
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>
<control channel="3">
<type>VELOCITY</type>
<offset>0</offset>
<p_gain>0.20</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>2.5</cmd_max>
<cmd_min>-2.5</cmd_min>
<jointName>iris::rotor_3_joint</jointName>
<multiplier>-838</multiplier>
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>
</plugin>
</model>
</sdf>