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Code reorganization and Drone Logic Update

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2026-01-05 02:38:46 +00:00
parent c5b208c91a
commit 27a70c4983
32 changed files with 1018 additions and 812 deletions
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10
gazebo/models/custom_object/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Custom Object</name>
<version>1.0</version>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>Your Name</name>
</author>
<description>Template for custom Gazebo model</description>
</model>

24
gazebo/models/custom_object/model.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.9">
<model name="custom_object">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<mesh>
<uri>meshes/model.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>meshes/model.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>

126
gazebo/worlds/custom_landing.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.9">
<world name="custom_landing">
<physics name="1ms" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.8 0.9 1</background>
<shadows>true</shadows>
</scene>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.5 0.5 0.5 1</diffuse>
</material>
</visual>
</link>
</model>
<model name="landing_pad">
<static>false</static>
<pose>0 0 0.05 0 0 0</pose>
<link name="base">
<inertial>
<mass>10</mass>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.75</radius>
<length>0.1</length>
</cylinder>
</geometry>
</collision>
<visual name="pad">
<geometry>
<cylinder>
<radius>0.75</radius>
<length>0.1</length>
</cylinder>
</geometry>
<material>
<ambient>0.1 0.6 0.1 1</ambient>
<diffuse>0.2 0.8 0.2 1</diffuse>
</material>
</visual>
<visual name="h_bar">
<pose>0 0 0.06 0 0 0</pose>
<geometry>
<box>
<size>0.1 0.5 0.02</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<visual name="h_cross">
<pose>0 0 0.06 0 0 1.5708</pose>
<geometry>
<box>
<size>0.1 0.25 0.02</size>
</box>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
</link>
<plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
<topic>/landing_pad/cmd_vel</topic>
</plugin>
<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
<odom_topic>/landing_pad/odom</odom_topic>
</plugin>
</model>
<include>
<uri>model://iris_with_ardupilot</uri>
<name>iris</name>
<pose>0 0 0.195 0 0 0</pose>
</include>
</world>
</sdf>