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876 lines
28 KiB
876 lines
28 KiB
<sdf version='1.6'>
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<model name='iris'>
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<link name='base_link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>1.5</mass>
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<collision name='base_link_inertia_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<ode/>
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<pose frame=''>-0.23 -0.32 -0.45 0 -0 0</pose>
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<uri>model://omnicopter/meshes/omnicopter.stl</uri>
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<material>
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<name>Gazebo/DarkGrey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<joint name='/imu_joint' type='revolute'>
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<child>/imu_link</child>
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<parent>base_link</parent>
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<xyz>1 0 0</xyz>
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<link name='rotor_0'>
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<izz>0.000274004</izz>
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<collision name='rotor_0_collision'>
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<geometry>
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<visual name='rotor_0_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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</link>
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<joint name='rotor_0_joint' type='revolute'>
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<child>rotor_0</child>
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<parent>base_link</parent>
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<axis>
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<xyz>-0.788675 0.211325 0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='rotor_1'>
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<pose frame=''>-0.1 0.1 0.1 -2.20271 0.21293 -0.415283</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<izz>0.000274004</izz>
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</inertia>
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</inertial>
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<collision name='rotor_1_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.064</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode/>
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</contact>
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<friction>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='rotor_1_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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</link>
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<joint name='rotor_1_joint' type='revolute'>
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<child>rotor_1</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0.211325 0.788675 -0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='rotor_2'>
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<pose frame=''>0.1 -0.1 0.1 2.20271 -0.21293 -0.415283</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<ixx>9.75e-07</ixx>
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<iyz>0</iyz>
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<izz>0.000274004</izz>
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</inertia>
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</inertial>
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<collision name='rotor_2_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<surface>
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<ode/>
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<friction>
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<ode/>
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</surface>
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<visual name='rotor_2_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Blue</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<joint name='rotor_2_joint' type='revolute'>
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<child>rotor_2</child>
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<parent>base_link</parent>
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<axis>
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<xyz>-0.211325 -0.788675 -0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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<link name='rotor_3'>
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<pose frame=''>-0.1 -0.1 0.1 0.350879 0.908651 0.172719</pose>
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<visual name='rotor_3_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<joint name='rotor_3_joint' type='revolute'>
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<child>rotor_3</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0.788675 -0.211325 0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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<dynamics>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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<link name='rotor_4'>
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<pose frame=''>0.1 0.1 -0.1 0.350879 0.908651 0.172719</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<iyz>0</iyz>
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<izz>0.000274004</izz>
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<collision name='rotor_4_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<surface>
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<contact>
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<ode/>
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</contact>
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<friction>
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<ode/>
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</friction>
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<visual name='rotor_4_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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</link>
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<joint name='rotor_4_joint' type='revolute'>
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<child>rotor_4</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0.788675 -0.211325 0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='rotor_5'>
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<pose frame=''>-0.1 0.1 -0.1 2.20271 -0.21293 -0.415283</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<izz>0.000274004</izz>
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<collision name='rotor_5_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<surface>
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<contact>
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<ode/>
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</contact>
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<friction>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='rotor_5_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>0.5 0.5 0.5</scale>
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<uri>model://iris/meshes/iris_prop_cw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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</link>
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<joint name='rotor_5_joint' type='revolute'>
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<child>rotor_5</child>
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<parent>base_link</parent>
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<axis>
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<xyz>-0.211325 -0.788675 -0.57735</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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<link name='rotor_6'>
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<pose frame=''>0.1 -0.1 -0.1 -2.20271 0.21293 -0.415283</pose>
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<inertial>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000273104</iyy>
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<iyz>0</iyz>
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<izz>0.000274004</izz>
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</inertia>
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</inertial>
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<collision name='rotor_6_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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</cylinder>
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<contact>
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<friction>
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|
|
</collision>
|
|
<visual name='rotor_6_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>0.5 0.5 0.5</scale>
|
|
<uri>model://iris/meshes/iris_prop_cw.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<name>Gazebo/DarkGrey</name>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay/>
|
|
</link>
|
|
<joint name='rotor_6_joint' type='revolute'>
|
|
<child>rotor_6</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>0.211325 0.788675 -0.57735</xyz>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<link name='rotor_7'>
|
|
<pose frame=''>-0.1 -0.1 -0.1 -0.350879 -0.908651 0.172719</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>0.005</mass>
|
|
<inertia>
|
|
<ixx>9.75e-07</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.000273104</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.000274004</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='rotor_7_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<cylinder>
|
|
<length>0.005</length>
|
|
<radius>0.064</radius>
|
|
</cylinder>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<friction>
|
|
<ode/>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name='rotor_7_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>0.5 0.5 0.5</scale>
|
|
<uri>model://iris/meshes/iris_prop_cw.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<name>Gazebo/DarkGrey</name>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
<gravity>1</gravity>
|
|
<velocity_decay/>
|
|
</link>
|
|
<joint name='rotor_7_joint' type='revolute'>
|
|
<child>rotor_7</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>-0.788675 0.211325 0.57735</xyz>
|
|
<limit>
|
|
<lower>-1e+16</lower>
|
|
<upper>1e+16</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
|
|
<robotNamespace/>
|
|
<linkName>base_link</linkName>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_0_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_0_joint</jointName>
|
|
<linkName>rotor_0</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>0</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_1_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_1_joint</jointName>
|
|
<linkName>rotor_1</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>1</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_2_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_2_joint</jointName>
|
|
<linkName>rotor_2</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>2</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_3_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_3_joint</jointName>
|
|
<linkName>rotor_3</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>3</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_4_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_4_joint</jointName>
|
|
<linkName>rotor_4</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>4</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_5_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_5_joint</jointName>
|
|
<linkName>rotor_5</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>5</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_6_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_6_joint</jointName>
|
|
<linkName>rotor_6</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>6</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/6</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='motor_7_model' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace/>
|
|
<reversible>true</reversible>
|
|
<jointName>rotor_7_joint</jointName>
|
|
<linkName>rotor_7</linkName>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>2.50972e-05</motorConstant>
|
|
<momentConstant>0.06</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>7</motorNumber>
|
|
<rotorDragCoefficient>0.000175</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<include>
|
|
<uri>model://gps</uri>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<name>gps</name>
|
|
</include>
|
|
<joint name='gps_joint' type='fixed'>
|
|
<child>gps::link</child>
|
|
<parent>base_link</parent>
|
|
</joint>
|
|
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
|
|
<robotNamespace/>
|
|
<pubRate>100</pubRate>
|
|
<noiseDensity>0.0004</noiseDensity>
|
|
<randomWalk>6.4e-06</randomWalk>
|
|
<biasCorrelationTime>600</biasCorrelationTime>
|
|
<magTopic>/mag</magTopic>
|
|
</plugin>
|
|
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
|
|
<robotNamespace/>
|
|
<pubRate>50</pubRate>
|
|
<baroTopic>/baro</baroTopic>
|
|
</plugin>
|
|
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
|
|
<robotNamespace/>
|
|
<imuSubTopic>/imu</imuSubTopic>
|
|
<gpsSubTopic>/gps</gpsSubTopic>
|
|
<magSubTopic>/mag</magSubTopic>
|
|
<baroSubTopic>/baro</baroSubTopic>
|
|
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
|
<mavlink_udp_port>14560</mavlink_udp_port>
|
|
<mavlink_tcp_port>4560</mavlink_tcp_port>
|
|
<serialEnabled>0</serialEnabled>
|
|
<serialDevice>/dev/ttyACM0</serialDevice>
|
|
<baudRate>921600</baudRate>
|
|
<qgc_addr>INADDR_ANY</qgc_addr>
|
|
<qgc_udp_port>14550</qgc_udp_port>
|
|
<sdk_addr>INADDR_ANY</sdk_addr>
|
|
<sdk_udp_port>14540</sdk_udp_port>
|
|
<hil_mode>0</hil_mode>
|
|
<hil_state_level>0</hil_state_level>
|
|
<vehicle_is_tailsitter>0</vehicle_is_tailsitter>
|
|
<send_vision_estimation>1</send_vision_estimation>
|
|
<send_odometry>0</send_odometry>
|
|
<enable_lockstep>1</enable_lockstep>
|
|
<use_tcp>1</use_tcp>
|
|
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
|
|
<control_channels>
|
|
<channel name='rotor1'>
|
|
<input_index>0</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor2'>
|
|
<input_index>1</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor3'>
|
|
<input_index>2</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor4'>
|
|
<input_index>3</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>100</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor5'>
|
|
<input_index>4</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor6'>
|
|
<input_index>5</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor7'>
|
|
<input_index>6</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
<channel name='rotor8'>
|
|
<input_index>7</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1000</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
</channel>
|
|
</control_channels>
|
|
</plugin>
|
|
<static>0</static>
|
|
<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
|
|
<robotNamespace/>
|
|
<linkName>/imu_link</linkName>
|
|
<imuTopic>/imu</imuTopic>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|
|
|