Camera Sim Update
This commit is contained in:
383
models/iris_with_gimbal/model.sdf
Executable file
383
models/iris_with_gimbal/model.sdf
Executable file
@@ -0,0 +1,383 @@
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<?xml version='1.0'?>
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<sdf version="1.9">
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<model name="iris_with_gimbal">
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<include>
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<uri>model://iris_with_standoffs</uri>
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</include>
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<include>
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<uri>model://gimbal_small_3d</uri>
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<name>gimbal</name>
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<pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>
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</include>
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<joint name="gimbal_joint" type="revolute">
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<parent>iris_with_standoffs::base_link</parent>
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<child>gimbal::base_link</child>
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<axis>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<!-- Downward-facing camera for ArUco / landing pad detection -->
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<link name="downward_cam_link">
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<pose>0 0 -0.05 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00001</iyy>
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<iyz>0</iyz>
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<izz>0.00001</izz>
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</inertia>
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</inertial>
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<sensor name="downward_camera" type="camera">
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<pose>0 0 0 0 1.5708 0</pose>
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<always_on>1</always_on>
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<update_rate>10</update_rate>
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<visualize>1</visualize>
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<topic>/uav/camera/downward</topic>
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<camera>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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<joint name="downward_cam_joint" type="fixed">
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<parent>iris_with_standoffs::base_link</parent>
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<child>downward_cam_link</child>
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</joint>
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<!-- plugins -->
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<plugin filename="gz-sim-joint-state-publisher-system"
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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_0</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_0</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_1</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_1</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_2</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_2</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_3</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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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>0.0</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_with_standoffs::rotor_3</link_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>iris_with_standoffs::rotor_0_joint</joint_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>iris_with_standoffs::rotor_1_joint</joint_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>iris_with_standoffs::rotor_2_joint</joint_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>iris_with_standoffs::rotor_3_joint</joint_name>
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</plugin>
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<plugin name="ArduPilotPlugin"
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filename="ArduPilotPlugin">
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<!-- Port settings -->
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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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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<lock_step>1</lock_step>
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<!-- Frame conventions
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Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
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<!-- Sensors -->
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<imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>
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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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<control channel="0">
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<jointName>iris_with_standoffs::rotor_0_joint</jointName>
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<useForce>1</useForce>
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<multiplier>838</multiplier>
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<offset>0</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>VELOCITY</type>
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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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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="1">
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<jointName>iris_with_standoffs::rotor_1_joint</jointName>
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<useForce>1</useForce>
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<multiplier>838</multiplier>
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<offset>0</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>VELOCITY</type>
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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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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="2">
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<jointName>iris_with_standoffs::rotor_2_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-838</multiplier>
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<offset>0</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>VELOCITY</type>
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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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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<control channel="3">
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<jointName>iris_with_standoffs::rotor_3_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-838</multiplier>
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<offset>0</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>VELOCITY</type>
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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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<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
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</control>
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<!-- roll range is -30 to +30 deg -->
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<control channel="8">
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<jointName>gimbal::roll_joint</jointName>
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<multiplier>1.047197551196</multiplier>
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<offset>-0.5</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/gimbal/cmd_roll</cmd_topic>
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<p_gain>2</p_gain>
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</control>
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<!-- pitch range is -135 to +45 deg -->
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<control channel="9">
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<jointName>gimbal::pitch_joint</jointName>
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<multiplier>-3.14159265</multiplier>
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<offset>-0.75</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/gimbal/cmd_pitch</cmd_topic>
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<p_gain>2</p_gain>
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</control>
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<!-- yaw range is -160 to +160 deg -->
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<control channel="10">
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<jointName>gimbal::yaw_joint</jointName>
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<multiplier>-5.5850536</multiplier>
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<offset>-0.5</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/gimbal/cmd_yaw</cmd_topic>
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<p_gain>2</p_gain>
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</control>
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</plugin>
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<plugin
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filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>gimbal::roll_joint</joint_name>
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<topic>/gimbal/cmd_roll</topic>
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<p_gain>2</p_gain>
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</plugin>
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<plugin
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filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>gimbal::pitch_joint</joint_name>
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<topic>/gimbal/cmd_pitch</topic>
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<p_gain>2</p_gain>
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</plugin>
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<plugin
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filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>gimbal::yaw_joint</joint_name>
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<topic>/gimbal/cmd_yaw</topic>
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<p_gain>2</p_gain>
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</plugin>
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</model>
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</sdf>
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