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289 lines
8.6 KiB
Plaintext
289 lines
8.6 KiB
Plaintext
4 years ago
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<?xml version='1.0'?>
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<sdf version="1.6" >
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<model name="drone_with_lidar">
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<include>
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<uri>model://iris_base</uri>
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</include>
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<!--add lidar-->
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<link name="hokuyo_link">
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<pose>0 0 0 0 0 0</pose>
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<collision name="collision">
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<pose>0 0 0.3 0 0 0</pose>
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<pose>0 0 0.27 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://hokuyo/meshes/hokuyo.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<inertial>
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<mass>0.016</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0001</iyy>
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<iyz>0</iyz>
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<izz>0.0001</izz>
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<!-- low intertia necessary to avoid not disturb the drone -->
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</inertia>
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</inertial>
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<sensor type="ray" name="laser">
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<pose>0 0 0.3 0 0 1.57</pose>
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<visualize>true</visualize>
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<update_rate>10</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>1024</samples>
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<resolution>1</resolution>
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<min_angle>-3.141593</min_angle>
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<max_angle>3.141593</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.1</min>
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<max>30</max>
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<resolution>0.1</resolution>
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</range>
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<!-- <noise>
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<type>Gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise> -->
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</ray>
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<plugin name="hokuyo_node" filename="libgazebo_ros_laser.so">
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<robotNamespace></robotNamespace>
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<topicName>/spur/laser/scan</topicName>
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<frameName>/hokuyo_sensor_link</frameName>
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</plugin>
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</sensor>
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</link>
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<joint name="hokuyo_joint" type="fixed">
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<pose>0 0 0 0 0 0</pose>
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<parent>iris::base_link</parent>
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<child>hokuyo_link</child>
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</joint>
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<!-- plugins -->
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<plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
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<fdm_addr>127.0.0.1</fdm_addr>
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<fdm_port_in>9002</fdm_port_in>
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<fdm_port_out>9003</fdm_port_out>
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<!--
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Require by APM :
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Only change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
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<imuName>iris::iris/imu_link::imu_sensor</imuName>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<control channel="0">
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<!--
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incoming control command [0, 1]
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so offset it by 0 to get [0, 1]
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and divide max target by 1.
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offset = 0
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multiplier = 838 max rpm / 1 = 838
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-->
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_0_joint</jointName>
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<multiplier>838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="1">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_1_joint</jointName>
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<multiplier>838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="2">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_2_joint</jointName>
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<multiplier>-838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="3">
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<type>VELOCITY</type>
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<offset>0</offset>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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<jointName>iris::rotor_3_joint</jointName>
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<multiplier>-838</multiplier>
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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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</plugin>
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</model>
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</sdf>
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