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765 lines
24 KiB
765 lines
24 KiB
<?xml version="1.0"?>
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<sdf version='1.5'>
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<model name='plane'>
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<pose>0 0 0.246 0 0 0</pose>
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<link name='base_link'>
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<pose>0 0 0 0 0 0</pose>
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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>0.197563</ixx>
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|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
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<iyy>0.1458929</iyy>
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<iyz>0</iyz>
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<izz>0.1477</izz>
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</inertia>
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</inertial>
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<collision name='base_link_collision'>
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<pose>0 0 -0.07 0 0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.11</size>
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</box>
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</geometry>
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|
<surface>
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|
<contact>
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<ode>
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<max_vel>10</max_vel>
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<min_depth>0.01</min_depth>
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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='base_link_visual'>
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<pose>0.07 0 -0.08 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/body.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>__default__</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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<self_collide>0</self_collide>
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</link>
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<link name='plane/imu_link'>
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-05</iyy>
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<iyz>0</iyz>
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<izz>1e-05</izz>
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</inertia>
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</inertial>
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</link>
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<joint name='plane/imu_joint' type='revolute'>
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<child>plane/imu_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<effort>0</effort>
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<velocity>0</velocity>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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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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<include>
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<uri>model://airspeed</uri>
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<pose>0 0 0 0 0 0</pose>
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<name>airspeed</name>
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</include>
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<joint name='airspeed_joint' type='fixed'>
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<child>airspeed::link</child>
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<parent>base_link</parent>
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</joint>
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<link name='rotor_puller'>
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<pose>0.3 0 0.0 0 1.57 0</pose>
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<inertial>
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<pose>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>0.000166704</iyy>
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<iyz>0</iyz>
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_puller_collision'>
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<pose>0.0 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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<radius>0.1</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_puller_visual'>
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<pose>0 0 -0.09 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://plane/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>__default__</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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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_puller_joint' type='revolute'>
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<child>rotor_puller</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</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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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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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="left_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/left_aileron.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>__default__</uri>
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</script>
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</material>
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<plugin name="left_elevon_lift_visual" filename="libForceVisual.so">
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<topic_name>lift_force/left_elevon</topic_name>
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<color>Gazebo/Green</color>
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</plugin>
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</visual>
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</link>
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<link name="right_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='right_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/right_aileron.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>__default__</uri>
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</script>
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</material>
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<plugin name="right_elevon_lift_visual" filename="libForceVisual.so">
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<topic_name>lift_force/right_elevon</topic_name>
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<color>Gazebo/Green</color>
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</plugin>
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</visual>
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</link>
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<link name="left_flap">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.15 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/left_flap.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>__default__</uri>
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</script>
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</material>
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<plugin name="left_flap_lift_visual" filename="libForceVisual.so">
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<topic_name>lift_force/left_flap</topic_name>
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<color>Gazebo/Green</color>
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</plugin>
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</visual>
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</link>
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<link name="right_flap">
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<inertial>
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<mass>0.00000001</mass>
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|
<inertia>
|
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.15 0 0.00 0 0.0</pose>
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</inertial>
|
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<visual name='right_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/right_flap.dae</uri>
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</mesh>
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</geometry>
|
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<material>
|
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<script>
|
|
<name>Gazebo/Blue</name>
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|
<uri>__default__</uri>
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</script>
|
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</material>
|
|
<plugin name="right_elevon_lift_visual" filename="libForceVisual.so">
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<topic_name>lift_force/right_flap</topic_name>
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<color>Gazebo/Green</color>
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</plugin>
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</visual>
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</link>
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|
<link name="elevator">
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|
<inertial>
|
|
<mass>0.00000001</mass>
|
|
<inertia>
|
|
<ixx>0.000001</ixx>
|
|
<ixy>0.0</ixy>
|
|
<iyy>0.000001</iyy>
|
|
<ixz>0.0</ixz>
|
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<iyz>0.0</iyz>
|
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<izz>0.000001</izz>
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</inertia>
|
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<pose> -0.5 0 0 0.00 0 0.0</pose>
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</inertial>
|
|
<visual name='elevator_visual'>
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|
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>0.1 0.1 0.1</scale>
|
|
<uri>model://plane/meshes/elevators.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<name>Gazebo/Blue</name>
|
|
<uri>__default__</uri>
|
|
</script>
|
|
</material>
|
|
<plugin name="elevator_lift_visual" filename="libForceVisual.so">
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|
<topic_name>lift_force/elevator</topic_name>
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<color>Gazebo/Green</color>
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|
</plugin>
|
|
</visual>
|
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</link>
|
|
<link name="rudder">
|
|
<inertial>
|
|
<mass>0.00000001</mass>
|
|
<inertia>
|
|
<ixx>0.000001</ixx>
|
|
<ixy>0.0</ixy>
|
|
<iyy>0.000001</iyy>
|
|
<ixz>0.0</ixz>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.000001</izz>
|
|
</inertia>
|
|
<pose>-0.5 0 0.05 0 0 0 </pose>
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|
</inertial>
|
|
<visual name='rudder_visual'>
|
|
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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|
<geometry>
|
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<mesh>
|
|
<scale>0.1 0.1 0.1</scale>
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|
<uri>model://plane/meshes/rudder.dae</uri>
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</mesh>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<name>Gazebo/Blue</name>
|
|
<uri>__default__</uri>
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</script>
|
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</material>
|
|
<plugin name="rudder_lift_visual" filename="libForceVisual.so">
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|
<topic_name>lift_force/rudder</topic_name>
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<color>Gazebo/Green</color>
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</plugin>
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</visual>
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</link>
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<joint name='left_elevon_joint' type='revolute'>
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<parent>base_link</parent>
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|
<child>left_elevon</child>
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|
<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
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|
<axis>
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|
<xyz>0 1 0</xyz>
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|
<limit>
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|
<!-- -30/+30 deg. -->
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|
<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
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</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
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|
<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
|
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</physics>
|
|
</joint>
|
|
<joint name='right_elevon_joint' type='revolute'>
|
|
<parent>base_link</parent>
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|
<child>right_elevon</child>
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|
<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
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|
<lower>-0.53</lower>
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<upper>0.53</upper>
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|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='left_flap_joint' type='revolute'>
|
|
<parent>base_link</parent>
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|
<child>left_flap</child>
|
|
<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='right_flap_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>right_flap</child>
|
|
<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='elevator_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>elevator</child>
|
|
<pose> -0.5 0 0 0 0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name='rudder_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rudder</child>
|
|
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<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="left_wing" filename="libLiftDragPlugin.so">
|
|
<a0>0.05984281113</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.05 0.45 0.05</cp>
|
|
<area>0.6</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/left_elevon</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
left_elevon_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name="right_wing" filename="libLiftDragPlugin.so">
|
|
<a0>0.05984281113</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.05 -0.45 0.05</cp>
|
|
<area>0.6</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/right_elevon</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
right_elevon_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name="left_flap" filename="libLiftDragPlugin.so">
|
|
<a0>0.05984281113</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.05 0.15 0.05</cp>
|
|
<area>0.6</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/left_flap</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
left_flap_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name="right_flap" filename="libLiftDragPlugin.so">
|
|
<a0>0.05984281113</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.05 -0.15 0.05</cp>
|
|
<area>0.6</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/right_flap</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
right_flap_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name="elevator" filename="libLiftDragPlugin.so">
|
|
<a0>-0.2</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.5 0 0</cp>
|
|
<area>0.01</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/elevator</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
elevator_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name="rudder" filename="libLiftDragPlugin.so">
|
|
<a0>0.0</a0>
|
|
<cla>4.752798721</cla>
|
|
<cda>0.6417112299</cda>
|
|
<cma>0.0</cma>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<cla_stall>-3.85</cla_stall>
|
|
<cda_stall>-0.9233984055</cda_stall>
|
|
<cma_stall>0</cma_stall>
|
|
<cp>-0.5 0 0.05</cp>
|
|
<area>0.02</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 1 0</upward>
|
|
<link_name>base_link</link_name>
|
|
<topic_name>lift_force/rudder</topic_name> <!--Uncomment to draw the force-->
|
|
<control_joint_name>
|
|
rudder_joint
|
|
</control_joint_name>
|
|
<control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name='puller' filename='libgazebo_motor_model.so'>
|
|
<robotNamespace></robotNamespace>
|
|
<jointName>rotor_puller_joint</jointName>
|
|
<linkName>rotor_puller</linkName>
|
|
<turningDirection>cw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>3500</maxRotVelocity>
|
|
<motorConstant>8.54858e-06</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>4</motorNumber>
|
|
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
<robotNamespace></robotNamespace>
|
|
<windSubTopic>world_wind</windSubTopic>
|
|
</plugin>
|
|
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
|
|
<robotNamespace/>
|
|
</plugin>
|
|
<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></robotNamespace>
|
|
<imuSubTopic>/imu</imuSubTopic>
|
|
<magSubTopic>/mag</magSubTopic>
|
|
<baroSubTopic>/baro</baroSubTopic>
|
|
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
|
<mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
|
|
<mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
|
|
<serialEnabled>{{ serial_enabled }}</serialEnabled>
|
|
<serialDevice>{{ serial_device }}</serialDevice>
|
|
<baudRate>{{ serial_baudrate }}</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>{{ hil_mode }}</hil_mode>
|
|
<hil_state_level>false</hil_state_level>
|
|
<enable_lockstep>true</enable_lockstep>
|
|
<use_tcp>true</use_tcp>
|
|
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
|
|
<control_channels>
|
|
<channel name="rudder">
|
|
<input_index>2</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>rudder_joint</joint_name>
|
|
</channel>
|
|
<channel name="rotor4">
|
|
<input_index>4</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>3500</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
<joint_name>rotor_puller_joint</joint_name>
|
|
</channel>
|
|
<channel name="left_elevon">
|
|
<input_index>5</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>left_elevon_joint</joint_name>
|
|
</channel>
|
|
<channel name="right_elevon">
|
|
<input_index>6</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>right_elevon_joint</joint_name>
|
|
</channel>
|
|
<channel name="elevator">
|
|
<input_index>7</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>elevator_joint</joint_name>
|
|
</channel>
|
|
<channel name="left_flap">
|
|
<input_index>3</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>-1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>left_flap_joint</joint_name>
|
|
</channel>
|
|
<channel name="right_flap">
|
|
<input_index>8</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>-1</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>position_kinematic</joint_control_type>
|
|
<joint_name>right_flap_joint</joint_name>
|
|
</channel>
|
|
</control_channels>
|
|
</plugin>
|
|
<static>0</static>
|
|
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
|
|
<robotNamespace></robotNamespace>
|
|
<linkName>plane/imu_link</linkName>
|
|
<imuTopic>/imu</imuTopic>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|
|
|