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2674 lines
82 KiB
Plaintext
2674 lines
82 KiB
Plaintext
4 years ago
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<size>400 400 20</size>
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<uri>model://oak_tree/materials/scripts/</uri>
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<uri>model://oak_tree/materials/textures/</uri>
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<name>OakTree/Branch</name>
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<visual name='bark'>
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<geometry>
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<mesh>
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<uri>model://oak_tree/meshes/oak_tree.dae</uri>
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<submesh>
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<name>Bark</name>
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<material>
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<script>
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<uri>model://oak_tree/materials/scripts/</uri>
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<uri>model://oak_tree/materials/textures/</uri>
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<name>OakTree/Bark</name>
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</script>
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<pose>-16.0303 9.98288 0 0 -0 0</pose>
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<uri>model://post_office/meshes/post_office.dae</uri>
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<ode/>
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<pose>15.0995 -4.58922 0 0 -0 0</pose>
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<name>Branch</name>
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</geometry>
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<material>
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<script>
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<uri>model://oak_tree/materials/scripts/</uri>
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|
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<uri>model://oak_tree/materials/textures/</uri>
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|
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<name>OakTree/Branch</name>
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</script>
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<geometry>
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<mesh>
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<uri>model://oak_tree/meshes/oak_tree.dae</uri>
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<submesh>
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<name>Bark</name>
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</submesh>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://oak_tree/materials/scripts/</uri>
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|
|
<uri>model://oak_tree/materials/textures/</uri>
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|
|
<name>OakTree/Bark</name>
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|
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<enable_wind>0</enable_wind>
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<pose>-8.73892 12.8544 0 0 -0 0</pose>
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</model>
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<model name='oak_tree_1'>
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<static>1</static>
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<collision name='collision'>
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<geometry>
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<mesh>
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<uri>model://oak_tree/meshes/oak_tree.dae</uri>
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</mesh>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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<bounce/>
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<friction>
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<torsional>
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<ode/>
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<ode/>
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<visual name='branch'>
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<geometry>
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<mesh>
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<uri>model://oak_tree/meshes/oak_tree.dae</uri>
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<submesh>
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<name>Branch</name>
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<material>
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<script>
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<uri>model://oak_tree/materials/scripts/</uri>
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||
|
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<uri>model://oak_tree/materials/textures/</uri>
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||
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<name>OakTree/Branch</name>
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</visual>
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<visual name='bark'>
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<geometry>
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<mesh>
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<uri>model://oak_tree/meshes/oak_tree.dae</uri>
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<submesh>
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<name>Bark</name>
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</geometry>
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<material>
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<script>
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<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
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||
|
|
<name>OakTree/Bark</name>
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</script>
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</material>
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|
</model>
|
||
|
|
<model name='oak_tree_2'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
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||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
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||
|
|
</link>
|
||
|
|
<pose>0.21308 7.01323 0 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_3'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<pose>4.07391 3.24085 0 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_clone'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<pose>-39.1143 50.0773 7.07824 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_3_clone'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<pose>-36.5598 86.648 9.63054 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_3_clone_clone'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<pose>-43.782 66.7723 12.2603 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_3_clone_clone_0'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='branch'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Branch</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Branch</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='bark'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
<submesh>
|
||
|
|
<name>Bark</name>
|
||
|
|
</submesh>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>model://oak_tree/materials/scripts/</uri>
|
||
|
|
<uri>model://oak_tree/materials/textures/</uri>
|
||
|
|
<name>OakTree/Bark</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<pose>-25.799 85.0326 12.2603 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
<model name='oak_tree_3_clone_clone_0_clone'>
|
||
|
|
<static>1</static>
|
||
|
|
<link name='link'>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://oak_tree/meshes/oak_tree.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
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|
<pose>0.602325 97.203 11.7139 0 -0 0</pose>
|
||
|
|
<scale>1 1 1</scale>
|
||
|
|
<link name='link'>
|
||
|
|
<pose>0.602325 97.203 11.7139 0 -0 0</pose>
|
||
|
|
<velocity>0 0 0 0 -0 0</velocity>
|
||
|
|
<acceleration>0 0 0 0 -0 0</acceleration>
|
||
|
|
<wrench>0 0 0 0 -0 0</wrench>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
<light name='sun'>
|
||
|
|
<pose>0 0 200 0 -0 0</pose>
|
||
|
|
</light>
|
||
|
|
</state>
|
||
|
|
<gui fullscreen='0'>
|
||
|
|
<camera name='user_camera'>
|
||
|
|
<pose>45.9867 107.031 14.7626 -0 0.407324 2.84529</pose>
|
||
|
|
<view_controller>orbit</view_controller>
|
||
|
|
<projection_type>perspective</projection_type>
|
||
|
|
</camera>
|
||
|
|
</gui>
|
||
|
|
<model name='drone_with_sonar'>
|
||
|
|
<frame name='iris::__model__' attached_to='iris::base_link'>
|
||
|
|
<pose relative_to='__model__'>0 0 0.194923 0 -0 0</pose>
|
||
|
|
</frame>
|
||
|
|
<link name='iris::base_link'>
|
||
|
|
<velocity_decay>
|
||
|
|
<linear>0</linear>
|
||
|
|
<angular>0</angular>
|
||
|
|
</velocity_decay>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>1.5</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.008</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.015</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.017</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='base_link_collision_fl'>
|
||
|
|
<pose>0.13 0.22 -0.08 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.18</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<collision name='base_link_collision_fr'>
|
||
|
|
<pose>0.13 -0.22 -0.08 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.18</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<collision name='base_link_collision_br'>
|
||
|
|
<pose>-0.13 -0.22 -0.08 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.18</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<collision name='base_link_collision_bl'>
|
||
|
|
<pose>-0.13 0.22 -0.08 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.05 0.05 0.18</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>100</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode>
|
||
|
|
<mu>1</mu>
|
||
|
|
<mu2>1</mu2>
|
||
|
|
</ode>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<visual name='base_link_visual'>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://iris_base/meshes/iris.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/DarkGrey</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='front_left_leg_visual'>
|
||
|
|
<pose>0.123 0.22 -0.11 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
<length>0.17</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/FlatBlack</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='front_right_leg_visual'>
|
||
|
|
<pose>0.123 -0.22 -0.11 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
<length>0.17</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/FlatBlack</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='rear_left_leg_visual'>
|
||
|
|
<pose>-0.14 0.21 -0.11 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
<length>0.17</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/FlatBlack</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<visual name='rear_right_leg_visual'>
|
||
|
|
<pose>-0.14 -0.21 -0.11 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.005</radius>
|
||
|
|
<length>0.17</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/FlatBlack</name>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<link name='iris::iris/ground_truth/odometry_sensorgt_link'>
|
||
|
|
<pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.15</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.0001</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.0002</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.0002</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::iris/ground_truth/odometry_sensorgt_joint' type='revolute'>
|
||
|
|
<child>iris::iris/ground_truth/odometry_sensorgt_link</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>0</lower>
|
||
|
|
<upper>0</upper>
|
||
|
|
<effort>0</effort>
|
||
|
|
<velocity>0</velocity>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<link name='iris::iris/imu_link'>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.15</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1e-05</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>2e-05</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>2e-05</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<sensor name='imu_sensor' type='imu'>
|
||
|
|
<pose>0 0 0 -3.14159 -0 0</pose>
|
||
|
|
<always_on>1</always_on>
|
||
|
|
<update_rate>1000</update_rate>
|
||
|
|
<imu/>
|
||
|
|
</sensor>
|
||
|
|
<pose relative_to='iris::__model__'>0 0 0 0 -0 0</pose>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::iris/imu_joint' type='revolute'>
|
||
|
|
<child>iris::iris/imu_link</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>0</lower>
|
||
|
|
<upper>0</upper>
|
||
|
|
<effort>0</effort>
|
||
|
|
<velocity>0</velocity>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>1</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<link name='iris::rotor_0'>
|
||
|
|
<pose relative_to='iris::__model__'>0.13 -0.22 0.023 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.025</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>9.75e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.000166704</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.000167604</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='rotor_0_collision'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.005</length>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<visual name='rotor_0_visual'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>1 1 1</scale>
|
||
|
|
<uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Blue</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<velocity_decay/>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::rotor_0_joint' type='revolute'>
|
||
|
|
<child>iris::rotor_0</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.004</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<link name='iris::rotor_1'>
|
||
|
|
<pose relative_to='iris::__model__'>-0.13 0.2 0.023 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.025</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>9.75e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.000166704</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.000167604</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='rotor_1_collision'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.005</length>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<visual name='rotor_1_visual'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>1 1 1</scale>
|
||
|
|
<uri>model://iris_base/meshes/iris_prop_ccw.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/DarkGrey</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<velocity_decay/>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::rotor_1_joint' type='revolute'>
|
||
|
|
<child>iris::rotor_1</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.004</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<link name='iris::rotor_2'>
|
||
|
|
<pose relative_to='iris::__model__'>0.13 0.22 0.023 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.025</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>9.75e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.000166704</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.000167604</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='rotor_2_collision'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.005</length>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<visual name='rotor_2_visual'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>1 1 1</scale>
|
||
|
|
<uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/Blue</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<velocity_decay/>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::rotor_2_joint' type='revolute'>
|
||
|
|
<child>iris::rotor_2</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.004</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<link name='iris::rotor_3'>
|
||
|
|
<pose relative_to='iris::__model__'>-0.13 -0.2 0.023 0 -0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<mass>0.025</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>9.75e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.000166704</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.000167604</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='rotor_3_collision'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<length>0.005</length>
|
||
|
|
<radius>0.1</radius>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<ode/>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
<bounce/>
|
||
|
|
</surface>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
</collision>
|
||
|
|
<visual name='rotor_3_visual'>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<scale>1 1 1</scale>
|
||
|
|
<uri>model://iris_base/meshes/iris_prop_cw.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<name>Gazebo/DarkGrey</name>
|
||
|
|
<uri>__default__</uri>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<gravity>1</gravity>
|
||
|
|
<velocity_decay/>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='iris::rotor_3_joint' type='revolute'>
|
||
|
|
<child>iris::rotor_3</child>
|
||
|
|
<parent>iris::base_link</parent>
|
||
|
|
<axis>
|
||
|
|
<xyz expressed_in='iris::__model__'>0 0 1</xyz>
|
||
|
|
<limit>
|
||
|
|
<lower>-1e+16</lower>
|
||
|
|
<upper>1e+16</upper>
|
||
|
|
</limit>
|
||
|
|
<dynamics>
|
||
|
|
<damping>0.004</damping>
|
||
|
|
<spring_reference>0</spring_reference>
|
||
|
|
<spring_stiffness>0</spring_stiffness>
|
||
|
|
</dynamics>
|
||
|
|
</axis>
|
||
|
|
<physics>
|
||
|
|
<ode>
|
||
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
||
|
|
<limit>
|
||
|
|
<cfm>0</cfm>
|
||
|
|
<erp>0.2</erp>
|
||
|
|
</limit>
|
||
|
|
</ode>
|
||
|
|
</physics>
|
||
|
|
</joint>
|
||
|
|
<static>0</static>
|
||
|
|
<link name='base_sonar_front'>
|
||
|
|
<pose>0.18 0 0.2 0 -0 0</pose>
|
||
|
|
<collision name='sonar_collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.01 0.01 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</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>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
</inertial>
|
||
|
|
<sensor name='sonar_sensor' type='ray'>
|
||
|
|
<visualize>1</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 name='gazebo_ros_range2' filename='libgazebo_ros_range_iq.so'>
|
||
|
|
<gaussianNoise>0.005</gaussianNoise>
|
||
|
|
<alwaysOn>1</alwaysOn>
|
||
|
|
<updateRate>50</updateRate>
|
||
|
|
<topicName>/mavros/distance_sensor/front</topicName>
|
||
|
|
<frameName>base_sonar_front</frameName>
|
||
|
|
<radiation>INFRARED</radiation>
|
||
|
|
<fov>0.2967</fov>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='base_sonar_joint' type='fixed'>
|
||
|
|
<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 expressed_in='__model__'>0 0 1</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name='base_sonar_left'>
|
||
|
|
<pose>0 0.18 0.2 0 -0 1.57</pose>
|
||
|
|
<collision name='sonar_collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.01 0.01 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</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>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
</inertial>
|
||
|
|
<sensor name='sonar_sensor' type='ray'>
|
||
|
|
<visualize>1</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 name='gazebo_ros_range2' filename='libgazebo_ros_range_iq.so'>
|
||
|
|
<gaussianNoise>0.005</gaussianNoise>
|
||
|
|
<alwaysOn>1</alwaysOn>
|
||
|
|
<updateRate>50</updateRate>
|
||
|
|
<topicName>/mavros/distance_sensor/left</topicName>
|
||
|
|
<frameName>base_sonar_left</frameName>
|
||
|
|
<radiation>INFRARED</radiation>
|
||
|
|
<fov>0.2967</fov>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='base_sonar_joint_left' type='fixed'>
|
||
|
|
<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 expressed_in='__model__'>0 0 1</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name='base_sonar_right'>
|
||
|
|
<pose>0 -0.18 0.2 0 0 -1.57</pose>
|
||
|
|
<collision name='sonar_collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.01 0.01 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</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>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
</inertial>
|
||
|
|
<sensor name='sonar_sensor' type='ray'>
|
||
|
|
<visualize>1</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 name='gazebo_ros_range2' filename='libgazebo_ros_range_iq.so'>
|
||
|
|
<gaussianNoise>0.005</gaussianNoise>
|
||
|
|
<alwaysOn>1</alwaysOn>
|
||
|
|
<updateRate>50</updateRate>
|
||
|
|
<topicName>/mavros/distance_sensor/right</topicName>
|
||
|
|
<frameName>base_sonar_right</frameName>
|
||
|
|
<radiation>INFRARED</radiation>
|
||
|
|
<fov>0.2967</fov>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='base_sonar_joint_right' type='fixed'>
|
||
|
|
<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 expressed_in='__model__'>0 0 1</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<link name='base_sonar_back'>
|
||
|
|
<pose>-0.18 0 0.2 0 -0 3.14</pose>
|
||
|
|
<collision name='sonar_collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.01 0.01 0.01</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<max_contacts>10</max_contacts>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode/>
|
||
|
|
</contact>
|
||
|
|
<bounce/>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<ode/>
|
||
|
|
</torsional>
|
||
|
|
<ode/>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</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>
|
||
|
|
<pose>0 0 0 0 -0 0</pose>
|
||
|
|
</inertial>
|
||
|
|
<sensor name='sonar_sensor' type='ray'>
|
||
|
|
<visualize>1</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 name='gazebo_ros_range2' filename='libgazebo_ros_range_iq.so'>
|
||
|
|
<gaussianNoise>0.005</gaussianNoise>
|
||
|
|
<alwaysOn>1</alwaysOn>
|
||
|
|
<updateRate>50</updateRate>
|
||
|
|
<topicName>/mavros/distance_sensor/back</topicName>
|
||
|
|
<frameName>base_sonar_back</frameName>
|
||
|
|
<radiation>INFRARED</radiation>
|
||
|
|
<fov>0.2967</fov>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
<self_collide>0</self_collide>
|
||
|
|
<enable_wind>0</enable_wind>
|
||
|
|
<kinematic>0</kinematic>
|
||
|
|
</link>
|
||
|
|
<joint name='base_sonar_joint_back' type='fixed'>
|
||
|
|
<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 expressed_in='__model__'>0 0 1</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<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>
|
||
|
|
<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'>
|
||
|
|
<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>
|
||
|
|
<pose>15.0414 -13.4133 0 0 -0 0</pose>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|