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486 lines
15 KiB
486 lines
15 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='px4vision'>
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<pose>0 0 .24 0 0 0</pose>
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<self_collide>false</self_collide>
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<static>false</static>
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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>0.029125</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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<gravity>1</gravity>
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<velocity_decay />
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<collision name='base_link_inertia_collision'>
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<pose>0 0 0 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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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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_inertia_visual'>
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<pose>0 0 0 1.5707 0 0.01</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>model://px4vision/meshes/body.dae</uri>
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</mesh>
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</geometry>
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<material> <!-- DarkGrey-->
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<ambient>0.175 0.175 0.175 1.0</ambient>
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<diffuse>0.175 0.175 0.175 1.0</diffuse>
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<specular>0.175 0.175 0.175 1.0</specular>
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</material>
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</visual>
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<sensor name="air_pressure_sensor" type="air_pressure">
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<gz_frame_id>base_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>50</update_rate>
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<air_pressure>
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<pressure>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.01</stddev>
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</noise>
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</pressure>
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</air_pressure>
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</sensor>
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<sensor name="magnetometer_sensor" type="magnetometer">
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<gz_frame_id>base_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>100</update_rate>
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<magnetometer>
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<!-- TODO: update to fix units and coordinate system when we move past Harmonic -->
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<!-- See https://github.com/gazebosim/gz-sim/pull/2460 -->
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<!-- 3mgauss RMS: NOTE: noise is in tesla but sensor reports data in gauss -->
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<!-- Noise modeled after IIS2MDC -->
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<x>
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<noise type="gaussian">
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<stddev>0.0001</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<stddev>0.0001</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<stddev>0.0001</stddev>
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</noise>
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</z>
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</magnetometer>
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</sensor>
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<sensor name="navsat_sensor" type="navsat">
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<gz_frame_id>base_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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</sensor>
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<sensor name="imu_sensor" type="imu">
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<gz_frame_id>base_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>250</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00018665</stddev>
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<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00018665</stddev>
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<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00018665</stddev>
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<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00186</stddev>
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<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00186</stddev>
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<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.00186</stddev>
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<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
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<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
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</noise>
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</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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<link name='rotor_0'>
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<pose>0.0935 -0.107 0.03 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>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<iyy>0.000273104</iyy>
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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_0_collision'>
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<pose>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>0.128</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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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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_0_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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<scale>0.6 0.6 0.6</scale>
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<uri>model://px4vision/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material> <!-- Blue -->
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<ambient>0 0 1</ambient>
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<diffuse>0 0 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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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 0 1</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='rotor_1'>
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<pose>-0.0935 0.107 0.03 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>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<iyy>0.000273104</iyy>
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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>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>0.128</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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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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>0 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.6 0.6 0.6</scale>
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<uri>model://px4vision/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material> <!-- DarkGrey -->
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<ambient>0.175 0.175 0.175 1.0</ambient>
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<diffuse>0.175 0.175 0.175 1.0</diffuse>
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<specular>0.175 0.175 0.175 1.0</specular>
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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 0 1</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='rotor_2'>
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<pose>0.0935 0.107 0.03 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>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<iyy>0.000273104</iyy>
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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>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>0.128</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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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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_2_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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<scale>0.6 0.6 0.6</scale>
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<uri>model://px4vision/meshes/iris_prop_cw.dae</uri>
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</mesh>
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</geometry>
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<material> <!-- Blue -->
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<ambient>0 0 1</ambient>
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<diffuse>0 0 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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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_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 0 1</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='rotor_3'>
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<pose>-0.0935 -0.107 0.03 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>0.005</mass>
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|
<inertia>
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|
<ixx>9.75e-07</ixx>
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|
<iyy>0.000273104</iyy>
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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_3_collision'>
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<pose>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>0.128</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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<min_depth>0.001</min_depth>
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<max_vel>0</max_vel>
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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_3_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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<scale>0.6 0.6 0.6</scale>
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<uri>model://px4vision/meshes/iris_prop_cw.dae</uri>
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|
</mesh>
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|
</geometry>
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|
<material> <!-- DarkGrey -->
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|
<ambient>0.175 0.175 0.175 1.0</ambient>
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<diffuse>0.175 0.175 0.175 1.0</diffuse>
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|
<specular>0.175 0.175 0.175 1.0</specular>
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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_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>
|
|
<xyz>0 0 1</xyz>
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|
<limit>
|
|
<lower>-1e+16</lower>
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<upper>1e+16</upper>
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|
</limit>
|
|
<dynamics>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
<!-- <use_parent_model_frame>1</use_parent_model_frame> -->
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|
</axis>
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|
</joint>
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|
<!-- TODO: add GPS plugin -->
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_0_joint</jointName>
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|
<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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|
<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000</maxRotVelocity>
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|
<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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|
<commandSubTopic>command/motor_speed</commandSubTopic>
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|
<motorNumber>0</motorNumber>
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<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
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|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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|
<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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|
<maxRotVelocity>1000</maxRotVelocity>
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|
<motorConstant>8.54858e-06</motorConstant>
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|
<momentConstant>0.06</momentConstant>
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|
<commandSubTopic>command/motor_speed</commandSubTopic>
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|
<motorNumber>1</motorNumber>
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|
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
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|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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|
<motorType>velocity</motorType>
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|
</plugin>
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|
<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_2_joint</jointName>
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|
<linkName>rotor_2</linkName>
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|
<turningDirection>cw</turningDirection>
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|
<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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|
<maxRotVelocity>1000</maxRotVelocity>
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|
<motorConstant>8.54858e-06</motorConstant>
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|
<momentConstant>0.06</momentConstant>
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|
<commandSubTopic>command/motor_speed</commandSubTopic>
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|
<motorNumber>2</motorNumber>
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|
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
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|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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|
<motorType>velocity</motorType>
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|
</plugin>
|
|
<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_3_joint</jointName>
|
|
<linkName>rotor_3</linkName>
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|
<turningDirection>cw</turningDirection>
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|
<timeConstantUp>0.0125</timeConstantUp>
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|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1000</maxRotVelocity>
|
|
<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.06</momentConstant>
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|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<motorNumber>3</motorNumber>
|
|
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
<motorType>velocity</motorType>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|
|
|