312 lines
9.9 KiB
XML
312 lines
9.9 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="iris_with_ardupilot">
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<pose>0 0 0.194923 0 0 0</pose>
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<link name="base_link">
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>1.5</mass>
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<inertia>
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<ixx>0.029125</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.029125</iyy>
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<iyz>0</iyz>
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<izz>0.055225</izz>
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</inertia>
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</inertial>
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<collision name="base_collision">
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<pose>0 0 -0.08 0 0 0</pose>
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<geometry>
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<box><size>0.47 0.47 0.11</size></box>
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</geometry>
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</collision>
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<visual name="base_visual">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://iris/meshes/iris.dae</uri>
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<scale>1 1 1</scale>
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</mesh>
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</geometry>
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</visual>
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<!-- Fallback visual if mesh not found -->
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<visual name="body_box">
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<box><size>0.3 0.3 0.1</size></box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.8 1</ambient>
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<diffuse>0.2 0.2 0.8 1</diffuse>
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</material>
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</visual>
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<!-- IMU Sensor -->
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>200</update_rate>
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<imu>
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<angular_velocity>
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<x><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></x>
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<y><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></y>
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<z><noise type="gaussian"><mean>0</mean><stddev>0.0003</stddev></noise></z>
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</angular_velocity>
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<linear_acceleration>
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<x><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></x>
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<y><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></y>
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<z><noise type="gaussian"><mean>0</mean><stddev>0.017</stddev></noise></z>
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</linear_acceleration>
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</imu>
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</sensor>
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</link>
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<!-- Rotor 0 (Front Right CW) -->
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<link name="rotor_0">
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<pose>0.13 -0.22 0.023 0 0 0</pose>
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<inertial>
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<mass>0.025</mass>
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<inertia>
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<ixx>9.75e-06</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.000166704</iyy><iyz>0</iyz><izz>0.000167604</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<joint name="rotor_0_joint" type="revolute">
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<parent>base_link</parent>
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<child>rotor_0</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit><lower>-1e16</lower><upper>1e16</upper></limit>
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</axis>
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</joint>
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<!-- Rotor 1 (Back Left CW) -->
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<link name="rotor_1">
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<pose>-0.13 0.22 0.023 0 0 0</pose>
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<inertial>
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<mass>0.025</mass>
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<inertia>
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<ixx>9.75e-06</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.000166704</iyy><iyz>0</iyz><izz>0.000167604</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<joint name="rotor_1_joint" type="revolute">
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<parent>base_link</parent>
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<child>rotor_1</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit><lower>-1e16</lower><upper>1e16</upper></limit>
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</axis>
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</joint>
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<!-- Rotor 2 (Front Left CCW) -->
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<link name="rotor_2">
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<pose>0.13 0.22 0.023 0 0 0</pose>
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<inertial>
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<mass>0.025</mass>
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<inertia>
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<ixx>9.75e-06</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.000166704</iyy><iyz>0</iyz><izz>0.000167604</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<joint name="rotor_2_joint" type="revolute">
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<parent>base_link</parent>
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<child>rotor_2</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit><lower>-1e16</lower><upper>1e16</upper></limit>
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</axis>
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</joint>
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<!-- Rotor 3 (Back Right CCW) -->
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<link name="rotor_3">
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<pose>-0.13 -0.22 0.023 0 0 0</pose>
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<inertial>
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<mass>0.025</mass>
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<inertia>
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<ixx>9.75e-06</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>0.000166704</iyy><iyz>0</iyz><izz>0.000167604</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><cylinder><radius>0.1</radius><length>0.01</length></cylinder></geometry>
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<material><ambient>0.1 0.1 0.1 1</ambient></material>
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</visual>
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</link>
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<joint name="rotor_3_joint" type="revolute">
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<parent>base_link</parent>
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<child>rotor_3</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit><lower>-1e16</lower><upper>1e16</upper></limit>
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</axis>
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</joint>
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<!-- Forward Camera for Visual Odometry -->
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<link name="forward_camera_link">
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<pose>0.1 0 0 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>1e-5</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>1e-5</iyy><iyz>0</iyz><izz>1e-5</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry><box><size>0.02 0.02 0.02</size></box></geometry>
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<material><ambient>0 0 0 1</ambient></material>
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</visual>
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<sensor name="forward_camera" type="camera">
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<camera>
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<horizontal_fov>1.57</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><near>0.1</near><far>100</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace>/uav</namespace>
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<remapping>image_raw:=camera/forward/image_raw</remapping>
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<remapping>camera_info:=camera/forward/camera_info</remapping>
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</ros>
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<camera_name>forward_camera</camera_name>
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<frame_name>forward_camera_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="forward_camera_joint" type="fixed">
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<parent>base_link</parent>
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<child>forward_camera_link</child>
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</joint>
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<!-- Downward Camera for Optical Flow -->
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<link name="downward_camera_link">
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<pose>0 0 -0.05 0 1.5708 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>1e-5</ixx><ixy>0</ixy><ixz>0</ixz>
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<iyy>1e-5</iyy><iyz>0</iyz><izz>1e-5</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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<camera>
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<horizontal_fov>1.2</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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<format>R8G8B8</format>
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</image>
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<clip><near>0.1</near><far>50</far></clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>60</update_rate>
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<visualize>false</visualize>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace>/uav</namespace>
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<remapping>image_raw:=camera/downward/image_raw</remapping>
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<remapping>camera_info:=camera/downward/camera_info</remapping>
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</ros>
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<camera_name>downward_camera</camera_name>
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<frame_name>downward_camera_link</frame_name>
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</plugin>
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</sensor>
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</link>
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<joint name="downward_camera_joint" type="fixed">
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<parent>base_link</parent>
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<child>downward_camera_link</child>
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</joint>
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<!-- ArduPilot Plugin -->
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<plugin name="ardupilot_plugin" filename="libArduPilotPlugin.so">
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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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<fdm_port_out>9003</fdm_port_out>
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<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
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<imuName>iris_with_ardupilot::base_link::imu_sensor</imuName>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<!-- Motor configuration -->
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<control channel="0">
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<jointName>rotor_0_joint</jointName>
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<type>VELOCITY</type>
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<offset>0</offset>
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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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<multiplier>838</multiplier>
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</control>
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<control channel="1">
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<jointName>rotor_1_joint</jointName>
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<type>VELOCITY</type>
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<offset>0</offset>
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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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<multiplier>838</multiplier>
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</control>
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<control channel="2">
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<jointName>rotor_2_joint</jointName>
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<type>VELOCITY</type>
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<offset>0</offset>
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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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<multiplier>-838</multiplier>
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</control>
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<control channel="3">
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<jointName>rotor_3_joint</jointName>
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<type>VELOCITY</type>
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<offset>0</offset>
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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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<multiplier>-838</multiplier>
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</control>
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</plugin>
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</model>
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</sdf>
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