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Gazebo World Model Update

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2026-01-02 07:13:39 +00:00
parent 93fe686fab
commit 9450f286a1
3 changed files with 321 additions and 89 deletions
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gazebo/models/drone/model_fortress.sdf Normal file
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<?xml version="1.0" ?>
<!--
Simple Drone Model for Ignition Fortress
Uses velocity control for simple simulation
-->
<sdf version="1.8">
<model name="drone">
<pose>0 0 5 0 0 0</pose>
<!-- Main body -->
<link name="base_link">
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>0.029125</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.029125</iyy>
<iyz>0</iyz>
<izz>0.055225</izz>
</inertia>
</inertial>
<collision name="body_collision">
<geometry>
<box>
<size>0.3 0.3 0.1</size>
</box>
</geometry>
</collision>
<visual name="body_visual">
<geometry>
<box>
<size>0.3 0.3 0.1</size>
</box>
</geometry>
<material>
<ambient>0.8 0.1 0.1 1</ambient>
<diffuse>0.9 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<!-- Arms -->
<visual name="arm_fl">
<pose>0.12 0.12 0 0 0 0.785</pose>
<geometry>
<box><size>0.2 0.02 0.02</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<visual name="arm_fr">
<pose>0.12 -0.12 0 0 0 -0.785</pose>
<geometry>
<box><size>0.2 0.02 0.02</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<visual name="arm_bl">
<pose>-0.12 0.12 0 0 0 -0.785</pose>
<geometry>
<box><size>0.2 0.02 0.02</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<visual name="arm_br">
<pose>-0.12 -0.12 0 0 0 0.785</pose>
<geometry>
<box><size>0.2 0.02 0.02</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
</material>
</visual>
<!-- Rotors (visual only) -->
<visual name="rotor_fl">
<pose>0.17 0.17 0.05 0 0 0</pose>
<geometry>
<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
<visual name="rotor_fr">
<pose>0.17 -0.17 0.05 0 0 0</pose>
<geometry>
<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
<visual name="rotor_bl">
<pose>-0.17 0.17 0.05 0 0 0</pose>
<geometry>
<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
<visual name="rotor_br">
<pose>-0.17 -0.17 0.05 0 0 0</pose>
<geometry>
<cylinder><radius>0.08</radius><length>0.01</length></cylinder>
</geometry>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
</material>
</visual>
<!-- IMU Sensor -->
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<topic>/drone/imu</topic>
</sensor>
</link>
<!-- Ignition Fortress compatible plugins -->
<!-- Apply velocity from /drone/cmd_vel topic -->
<plugin filename="libignition-gazebo-apply-link-wrench-system.so"
name="ignition::gazebo::systems::ApplyLinkWrench"/>
<!-- Odometry Publisher -->
<plugin filename="libignition-gazebo-odometry-publisher-system.so"
name="ignition::gazebo::systems::OdometryPublisher">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<odom_topic>/model/drone/odometry</odom_topic>
<odom_publish_frequency>50</odom_publish_frequency>
</plugin>
<!-- Pose Publisher -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_model_pose>true</publish_model_pose>
<publish_link_pose>false</publish_link_pose>
<update_frequency>50</update_frequency>
</plugin>
</model>
</sdf>