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2026-02-09 04:20:22 +00:00
parent e70d4a8fcd
commit 5c0d3e2fb4
10 changed files with 1072 additions and 836 deletions
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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>