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ROS: modify iris example to support sdformat_urdf #56

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merged 4 commits into from
May 9, 2023
Merged

ROS: modify iris example to support sdformat_urdf #56

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6557330
Iris: update transform and rotor colours
srmainwaring Apr 17, 2023
c449ab9
ROS: support sdformat_urdf
srmainwaring Apr 16, 2023
d400320
ROS: add more sensors to iris
srmainwaring Apr 19, 2023
f44ec6b
ROS: add battery to iris
srmainwaring Apr 19, 2023
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20 changes: 10 additions & 10 deletions models/gimbal_small_2d/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
<?xml version='1.0'?>
<sdf version='1.9'>
<model name='gimbal_small_2d'>
<pose>0 0 0.18 0 0 0</pose>
<link name='base_link'>
<!-- <pose>0 0 0.18 0 0 0</pose> -->
<link name='gimbal_link'>
<inertial>
<mass>0.2</mass>
<inertia>
Expand All @@ -14,11 +14,11 @@
<izz>0.0001</izz>
</inertia>
</inertial>
<visual name='base_main_viz'>
<visual name='gimbal_main_viz'>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_2d/meshes/base_main.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_2d/meshes/base_main.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -27,7 +27,7 @@
<specular>0.01 0.01 0.01 1.0</specular>
</material>
</visual>
<collision name='base_col'>
<collision name='gimbal_col'>
<pose>0.01 0.075 -0.025 0 0 0</pose>
<geometry>
<box>
Expand All @@ -52,7 +52,7 @@
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_2d/meshes/base_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_2d/meshes/base_arm.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -65,13 +65,13 @@
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_2d/meshes/base_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_2d/meshes/base_arm.dae</uri>
</mesh>
</geometry>
</collision>
</link>
<joint name='roll_joint' type='revolute'>
<parent>base_link</parent>
<parent>gimbal_link</parent>
<child>roll_link</child>
<axis>
<xyz>0 0 1</xyz>
Expand Down Expand Up @@ -102,7 +102,7 @@
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_2d/meshes/tilt.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_2d/meshes/tilt.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -116,7 +116,7 @@
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://gimbal_small_2d/meshes/tilt.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_2d/meshes/tilt.dae</uri>
</mesh>
</geometry>
</collision>
Expand Down
120 changes: 73 additions & 47 deletions models/iris_with_gimbal/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,19 +1,20 @@
<?xml version='1.0'?>
<sdf version="1.9">
<model name="iris_with_gimbal">
<include>
<uri>model://iris_with_standoffs</uri>
<include merge="true">
<uri>package://ardupilot_gazebo/models/iris_with_standoffs</uri>
<name>iris</name>
</include>

<include>
<uri>model://gimbal_small_2d</uri>
<include merge="true">
<uri>package://ardupilot_gazebo/models/gimbal_small_2d</uri>
<name>gimbal</name>
<pose>0 -0.01 0.070 1.57 0 1.57</pose>
<pose>0 -0.01 -0.11 1.57 0 1.57</pose>
</include>

<joint name="gimbal_joint" type="revolute">
<parent>iris_with_standoffs::base_link</parent>
<child>gimbal::base_link</child>
<parent>base_link</parent>
<child>gimbal_link</child>
<axis>
<limit>
<lower>0</lower>
Expand All @@ -27,6 +28,22 @@
<plugin filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
</plugin>
<plugin
filename="gz-sim-pose-publisher-system"
name="gz::sim::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>

<plugin
filename="gz-sim-odometry-publisher-system"
name="gz::sim::systems::OdometryPublisher">
<odom_frame>iris/odom</odom_frame>
<robot_base_frame>iris</robot_base_frame>
<dimensions>3</dimensions>
</plugin>
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
Expand All @@ -42,7 +59,7 @@
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_0</link_name>
<link_name>rotor_0</link_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
Expand All @@ -59,7 +76,7 @@
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_0</link_name>
<link_name>rotor_0</link_name>
</plugin>

<plugin filename="gz-sim-lift-drag-system"
Expand All @@ -77,7 +94,7 @@
<cp>0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_1</link_name>
<link_name>rotor_1</link_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
Expand All @@ -94,7 +111,7 @@
<cp>-0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_1</link_name>
<link_name>rotor_1</link_name>
</plugin>

<plugin filename="gz-sim-lift-drag-system"
Expand All @@ -112,7 +129,7 @@
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_2</link_name>
<link_name>rotor_2</link_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
Expand All @@ -129,7 +146,7 @@
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_2</link_name>
<link_name>rotor_2</link_name>
</plugin>

<plugin filename="gz-sim-lift-drag-system"
Expand All @@ -147,7 +164,7 @@
<cp>0.084 0 0</cp>
<forward>0 -1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_3</link_name>
<link_name>rotor_3</link_name>
</plugin>
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
Expand All @@ -164,43 +181,67 @@
<cp>-0.084 0 0</cp>
<forward>0 1 0</forward>
<upward>0 0 1</upward>
<link_name>iris_with_standoffs::rotor_3</link_name>
<link_name>rotor_3</link_name>
</plugin>

<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>iris_with_standoffs::rotor_0_joint</joint_name>
<joint_name>rotor_0_joint</joint_name>
</plugin>
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>iris_with_standoffs::rotor_1_joint</joint_name>
<joint_name>rotor_1_joint</joint_name>
</plugin>
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>iris_with_standoffs::rotor_2_joint</joint_name>
<joint_name>rotor_2_joint</joint_name>
</plugin>
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>iris_with_standoffs::rotor_3_joint</joint_name>
<joint_name>rotor_3_joint</joint_name>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>roll_joint</joint_name>
<topic>/gimbal/cmd_roll</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>tilt_joint</joint_name>
<topic>/gimbal/cmd_tilt</topic>
<p_gain>2</p_gain>
</plugin>

<plugin filename="gz-sim-linearbatteryplugin-system"
name="gz::sim::systems::LinearBatteryPlugin">
<battery_name>lipo_3500mAh</battery_name>
<fix_issue_225>true</fix_issue_225>
<open_circuit_voltage_constant_coef>12.6</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-2.7</open_circuit_voltage_linear_coef>
<capacity>3.5</capacity>
<voltage>12.6</voltage>
<initial_charge>3.5</initial_charge>
<power_load>200.0</power_load>
<start_draining>false</start_draining>
</plugin>

<plugin name="ArduPilotPlugin"
filename="ArduPilotPlugin">
<!-- Port settings -->
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<lock_step>1</lock_step>

<!-- Frame conventions
Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
-->
<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
<gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>

<!-- Sensors -->
<imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>
<imuName>imu_link::imu_sensor</imuName>

<!-- Control channels -->
<!--
incoming control command [0, 1]
so offset it by 0 to get [0, 1]
Expand All @@ -209,7 +250,7 @@
multiplier = 838 max rpm / 1 = 838
-->
<control channel="0">
<jointName>iris_with_standoffs::rotor_0_joint</jointName>
<jointName>rotor_0_joint</jointName>
<useForce>1</useForce>
<multiplier>838</multiplier>
<offset>0</offset>
Expand All @@ -227,7 +268,7 @@
</control>

<control channel="1">
<jointName>iris_with_standoffs::rotor_1_joint</jointName>
<jointName>rotor_1_joint</jointName>
<useForce>1</useForce>
<multiplier>838</multiplier>
<offset>0</offset>
Expand All @@ -245,7 +286,7 @@
</control>

<control channel="2">
<jointName>iris_with_standoffs::rotor_2_joint</jointName>
<jointName>rotor_2_joint</jointName>
<useForce>1</useForce>
<multiplier>-838</multiplier>
<offset>0</offset>
Expand All @@ -263,7 +304,7 @@
</control>

<control channel="3">
<jointName>iris_with_standoffs::rotor_3_joint</jointName>
<jointName>rotor_3_joint</jointName>
<useForce>1</useForce>
<multiplier>-838</multiplier>
<offset>0</offset>
Expand All @@ -281,7 +322,7 @@
</control>

<control channel="4">
<jointName>gimbal::roll_joint</jointName>
<jointName>roll_joint</jointName>
<multiplier>3.14159265</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
Expand All @@ -292,7 +333,7 @@
</control>

<control channel="5">
<jointName>gimbal::tilt_joint</jointName>
<jointName>tilt_joint</jointName>
<multiplier>3.14159265</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
Expand All @@ -304,20 +345,5 @@

</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>gimbal::roll_joint</joint_name>
<topic>/gimbal/cmd_roll</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>gimbal::tilt_joint</joint_name>
<topic>/gimbal/cmd_tilt</topic>
<p_gain>2</p_gain>
</plugin>

</model>
</sdf>
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