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2026-02-09 04:20:22 +00:00
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13
models/iris_with_ardupilot/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Iris with ArduPilot</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>UAV-UGV Simulation</name>
</author>
<description>
Iris quadcopter with ArduPilot SITL plugin for GPS-denied navigation testing.
Includes forward and downward cameras for visual odometry.
</description>
</model>

311
models/iris_with_ardupilot/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="iris_with_ardupilot">
<pose>0 0 0.194923 0 0 0</pose>
<link name="base_link">
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1.5</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="base_collision">
<pose>0 0 -0.08 0 0 0</pose>
<geometry>
<box><size>0.47 0.47 0.11</size></box>
</geometry>
</collision>
<visual name="base_visual">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://iris/meshes/iris.dae</uri>
<scale>1 1 1</scale>
</mesh>
</geometry>
</visual>
<!-- Fallback visual if mesh not found -->
<visual name="body_box">
<pose>0 0 0 0 0 0</pose>
<geometry>
<box><size>0.3 0.3 0.1</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.8 1</ambient>
<diffuse>0.2 0.2 0.8 1</diffuse>
</material>
</visual>
<!-- IMU Sensor -->
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>200</update_rate>
<imu>
<angular_velocity>
<x><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></z>
</angular_velocity>
<linear_acceleration>
<x><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></x>
<y><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></y>
<z><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></z>
</linear_acceleration>
</imu>
</sensor>
</link>
<!-- Rotor 0 (Front Right CW) -->
<link name="rotor_0">
<pose>0.13 -0.22 0.023 0 0 0</pose>
<inertial>
<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>
<visual name="visual">
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<joint name="rotor_0_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_0</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 1 (Back Left CW) -->
<link name="rotor_1">
<pose>-0.13 0.22 0.023 0 0 0</pose>
<inertial>
<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>
<visual name="visual">
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<joint name="rotor_1_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_1</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 2 (Front Left CCW) -->
<link name="rotor_2">
<pose>0.13 0.22 0.023 0 0 0</pose>
<inertial>
<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>
<visual name="visual">
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<joint name="rotor_2_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_2</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Rotor 3 (Back Right CCW) -->
<link name="rotor_3">
<pose>-0.13 -0.22 0.023 0 0 0</pose>
<inertial>
<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>
<visual name="visual">
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
</link>
<joint name="rotor_3_joint" type="revolute">
<parent>base_link</parent>
<child>rotor_3</child>
<axis>
<xyz>0 0 1</xyz>
<limit><lower>-1e16</lower><upper>1e16</upper></limit>
</axis>
</joint>
<!-- Forward Camera for Visual Odometry -->
<link name="forward_camera_link">
<pose>0.1 0 0 0 0 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>1e-5</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>1e-5</iyy><iyz>0</iyz><izz>1e-5</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
<sensor name="forward_camera" type="camera">
<camera>
<horizontal_fov>1.57</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip><near>0.1</near><far>100</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/forward/image_raw</remapping>
<remapping>camera_info:=camera/forward/camera_info</remapping>
</ros>
<camera_name>forward_camera</camera_name>
<frame_name>forward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="forward_camera_joint" type="fixed">
<parent>base_link</parent>
<child>forward_camera_link</child>
</joint>
<!-- Downward Camera for Optical Flow -->
<link name="downward_camera_link">
<pose>0 0 -0.05 0 1.5708 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>1e-5</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>1e-5</iyy><iyz>0</iyz><izz>1e-5</izz>
</inertia>
</inertial>
<sensor name="downward_camera" type="camera">
<camera>
<horizontal_fov>1.2</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<clip><near>0.1</near><far>50</far></clip>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>false</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/downward/image_raw</remapping>
<remapping>camera_info:=camera/downward/camera_info</remapping>
</ros>
<camera_name>downward_camera</camera_name>
<frame_name>downward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="downward_camera_joint" type="fixed">
<parent>base_link</parent>
<child>downward_camera_link</child>
</joint>
<!-- ArduPilot Plugin -->
<plugin name="ardupilot_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_with_ardupilot::base_link::imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<!-- Motor configuration -->
<control channel="0">
<jointName>rotor_0_joint</jointName>
<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>
<multiplier>838</multiplier>
</control>
<control channel="1">
<jointName>rotor_1_joint</jointName>
<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>
<multiplier>838</multiplier>
</control>
<control channel="2">
<jointName>rotor_2_joint</jointName>
<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>
<multiplier>-838</multiplier>
</control>
<control channel="3">
<jointName>rotor_3_joint</jointName>
<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>
<multiplier>-838</multiplier>
</control>
</plugin>
</model>
</sdf>

166
models/iris_with_camera/model.sdf
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@@ -1,24 +1,90 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<!-- Simple quadcopter model for testing without ArduPilot -->
<model name="iris_with_camera">
<include>
<uri>model://iris</uri>
</include>
<pose>0 0 0.1 0 0 0</pose>
<link name="forward_camera_link">
<pose>0.1 0 0 0 0 0</pose>
<!-- Base/Body -->
<link name="base_link">
<inertial>
<mass>0.01</mass>
<mass>1.5</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
<ixx>0.029125</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.029125</iyy><iyz>0</iyz><izz>0.055225</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
<!-- Main body -->
<visual name="body_visual">
<geometry>
<box><size>0.3 0.3 0.1</size></box>
</geometry>
<material>
<ambient>0.2 0.2 0.8 1</ambient>
<diffuse>0.2 0.2 0.8 1</diffuse>
</material>
</visual>
<collision name="body_collision">
<geometry>
<box><size>0.3 0.3 0.1</size></box>
</geometry>
</collision>
<!-- Arms -->
<visual name="arm1_visual">
<pose>0.15 0.15 0 0 0 0.785</pose>
<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<visual name="arm2_visual">
<pose>-0.15 0.15 0 0 0 -0.785</pose>
<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<visual name="arm3_visual">
<pose>-0.15 -0.15 0 0 0 0.785</pose>
<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<visual name="arm4_visual">
<pose>0.15 -0.15 0 0 0 -0.785</pose>
<geometry><box><size>0.3 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<!-- Rotors -->
<visual name="rotor1">
<pose>0.22 0.22 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
<visual name="rotor2">
<pose>-0.22 0.22 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
<visual name="rotor3">
<pose>-0.22 -0.22 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
<visual name="rotor4">
<pose>0.22 -0.22 0.05 0 0 0</pose>
<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
<material><ambient>0.1 0.1 0.1 1</ambient></material>
</visual>
<!-- Forward camera (small black box) -->
<visual name="forward_camera_visual">
<pose>0.18 0 0 0 0 0</pose>
<geometry><box><size>0.03 0.03 0.03</size></box></geometry>
<material><ambient>0 0 0 1</ambient></material>
</visual>
<!-- Forward Camera Sensor -->
<sensor name="forward_camera" type="camera">
<pose>0.18 0 0 0 0 0</pose>
<camera>
<horizontal_fov>1.57</horizontal_fov>
<image>
@@ -31,37 +97,11 @@
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/forward/image_raw</remapping>
<remapping>camera_info:=camera/forward/camera_info</remapping>
</ros>
<camera_name>forward_camera</camera_name>
<frame_name>forward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="forward_camera_joint" type="fixed">
<parent>iris::base_link</parent>
<child>forward_camera_link</child>
</joint>
<link name="downward_camera_link">
<pose>0 0 -0.05 0 1.5708 0</pose>
<inertial>
<mass>0.01</mass>
<inertia>
<ixx>0.00001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.00001</iyy><iyz>0</iyz><izz>0.00001</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
<material><ambient>0.3 0.3 0.3 1</ambient></material>
</visual>
<!-- Downward Camera Sensor -->
<sensor name="downward_camera" type="camera">
<pose>0 0 -0.06 0 1.5708 0</pose>
<camera>
<horizontal_fov>1.2</horizontal_fov>
<image>
@@ -74,55 +114,7 @@
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>false</visualize>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>/uav</namespace>
<remapping>image_raw:=camera/downward/image_raw</remapping>
<remapping>camera_info:=camera/downward/camera_info</remapping>
</ros>
<camera_name>downward_camera</camera_name>
<frame_name>downward_camera_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="downward_camera_joint" type="fixed">
<parent>iris::base_link</parent>
<child>downward_camera_link</child>
</joint>
<link name="rangefinder_link">
<pose>0 0 -0.06 0 1.5708 0</pose>
<inertial>
<mass>0.005</mass>
<inertia>
<ixx>0.000001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.000001</iyy><iyz>0</iyz><izz>0.000001</izz>
</inertia>
</inertial>
<sensor name="rangefinder" type="ray">
<ray>
<scan>
<horizontal><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></horizontal>
</scan>
<range><min>0.1</min><max>10</max><resolution>0.01</resolution></range>
</ray>
<always_on>1</always_on>
<update_rate>30</update_rate>
<plugin name="range_plugin" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/uav</namespace>
<remapping>~/out:=rangefinder/range</remapping>
</ros>
<output_type>sensor_msgs/Range</output_type>
<frame_name>rangefinder_link</frame_name>
</plugin>
</sensor>
</link>
<joint name="rangefinder_joint" type="fixed">
<parent>iris::base_link</parent>
<child>rangefinder_link</child>
</joint>
</model>
</sdf>