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586 lines
24 KiB
586 lines
24 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<model name="uuv_bluerov2_heavy">
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<pose>0 0 -96.5 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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<mass>11</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</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 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.5 0.5 0.5</size> <!-- Size of the box: To be adjusted, copy-pasted
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from omnicopter -->
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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_visual">
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<pose>0 0 -0.06 0 -0 0</pose>
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<geometry>
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<mesh>
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<uri>model://uuv_bluerov2_heavy/meshes/BlueROV2heavy.dae</uri>
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</mesh>
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</geometry>
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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="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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<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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</link>
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<joint name="thruster0_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster0</child>
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</joint>
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<link name="thruster0">
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<pose>0.14 -0.10 -0.06 0 1.570796 -2.356194</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster0_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster1_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster1</child>
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</joint>
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<link name="thruster1">
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<pose>0.14 0.10 -0.06 0 1.570796 2.356194</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster1_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster2_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster2</child>
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</joint>
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<link name="thruster2">
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<pose>-0.14 -0.10 -0.06 0 1.570796 -0.78539815</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster2_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster3_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster3</child>
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</joint>
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<link name="thruster3">
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<pose>-0.14 0.10 -0.06 0 1.570796 0.78539815</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster3_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster4_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster4</child>
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</joint>
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<link name="thruster4">
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<pose>0.12 -0.22 0.0 3.1415 0 0</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster4_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster5_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster5</child>
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</joint>
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<link name="thruster5">
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<pose>0.12 0.22 0.0 3.1415 0 0</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster5_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster6_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster6</child>
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</joint>
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<link name="thruster6">
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<pose>-0.12 -0.22 0.0 3.1415 0 0</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster6_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="thruster7_joint" type="revolute">
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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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</axis>
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<parent>base_link</parent>
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<child>thruster7</child>
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</joint>
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<link name="thruster7">
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<pose>-0.12 0.22 0.0 3.1415 0 0</pose>
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<inertial>
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<mass>1e-10</mass>
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<inertia>
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<ixx>1e-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-06</iyy>
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<iyz>0</iyz>
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<izz>1e-06</izz>
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</inertia>
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</inertial>
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<visual name="thruster7_visual">
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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://uuv_bluerov2_heavy/meshes/prop.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
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<jointName>thruster0_joint</jointName>
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<linkName>thruster0</linkName>
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<motorNumber>0</motorNumber>
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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>1100.0</maxRotVelocity>
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<motorConstant>10</motorConstant>
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<momentConstant>0.01</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<rotorDragCoefficient>0</rotorDragCoefficient>
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<rollingMomentCoefficient>0</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
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<motorType>force_polynomial</motorType>
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<controlMethod>duty_cycle</controlMethod>
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<minCommand>0.00</minCommand>
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<minDutyCycle>1100</minDutyCycle>
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<maxDutyCycle>1900</maxDutyCycle>
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<bidirectionalMotor>1</bidirectionalMotor>
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<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
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<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
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</plugin>
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<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
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<jointName>thruster1_joint</jointName>
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<linkName>thruster1</linkName>
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<motorNumber>1</motorNumber>
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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>1100.0</maxRotVelocity>
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<motorConstant>10</motorConstant>
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<momentConstant>0.01</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<rotorDragCoefficient>0</rotorDragCoefficient>
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<rollingMomentCoefficient>0</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
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<motorType>force_polynomial</motorType>
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<controlMethod>duty_cycle</controlMethod>
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<minCommand>0.00</minCommand>
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<minDutyCycle>1100</minDutyCycle>
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<maxDutyCycle>1900</maxDutyCycle>
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<bidirectionalMotor>1</bidirectionalMotor>
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<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
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<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
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</plugin>
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<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
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<jointName>thruster2_joint</jointName>
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<linkName>thruster2</linkName>
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<motorNumber>2</motorNumber>
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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>1100.0</maxRotVelocity>
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<motorConstant>10</motorConstant>
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<momentConstant>0.01</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<rotorDragCoefficient>0</rotorDragCoefficient>
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<rollingMomentCoefficient>0</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
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<motorType>force_polynomial</motorType>
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<controlMethod>duty_cycle</controlMethod>
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<minCommand>0.00</minCommand>
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<minDutyCycle>1100</minDutyCycle>
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<maxDutyCycle>1900</maxDutyCycle>
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<bidirectionalMotor>1</bidirectionalMotor>
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<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
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<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
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</plugin>
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<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
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<jointName>thruster3_joint</jointName>
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<linkName>thruster3</linkName>
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<motorNumber>3</motorNumber>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100.0</maxRotVelocity>
|
|
<motorConstant>10</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<rotorDragCoefficient>0</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
|
|
<motorType>force_polynomial</motorType>
|
|
<controlMethod>duty_cycle</controlMethod>
|
|
<minCommand>0.00</minCommand>
|
|
<minDutyCycle>1100</minDutyCycle>
|
|
<maxDutyCycle>1900</maxDutyCycle>
|
|
<bidirectionalMotor>1</bidirectionalMotor>
|
|
<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
|
|
<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
|
|
</plugin>
|
|
<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
|
|
<jointName>thruster4_joint</jointName>
|
|
<linkName>thruster4</linkName>
|
|
<motorNumber>4</motorNumber>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100.0</maxRotVelocity>
|
|
<motorConstant>10</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<rotorDragCoefficient>0</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
|
|
<motorType>force_polynomial</motorType>
|
|
<controlMethod>duty_cycle</controlMethod>
|
|
<minCommand>0.00</minCommand>
|
|
<minDutyCycle>1100</minDutyCycle>
|
|
<maxDutyCycle>1900</maxDutyCycle>
|
|
<bidirectionalMotor>1</bidirectionalMotor>
|
|
<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
|
|
<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
|
|
</plugin>
|
|
<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
|
|
<jointName>thruster5_joint</jointName>
|
|
<linkName>thruster5</linkName>
|
|
<motorNumber>5</motorNumber>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100.0</maxRotVelocity>
|
|
<motorConstant>10</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<rotorDragCoefficient>0</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
|
|
<motorType>force_polynomial</motorType>
|
|
<controlMethod>duty_cycle</controlMethod>
|
|
<minCommand>0.00</minCommand>
|
|
<minDutyCycle>1100</minDutyCycle>
|
|
<maxDutyCycle>1900</maxDutyCycle>
|
|
<bidirectionalMotor>1</bidirectionalMotor>
|
|
<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
|
|
<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
|
|
</plugin>
|
|
<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
|
|
<jointName>thruster6_joint</jointName>
|
|
<linkName>thruster6</linkName>
|
|
<motorNumber>6</motorNumber>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100.0</maxRotVelocity>
|
|
<motorConstant>10</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<rotorDragCoefficient>0</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
|
|
<motorType>force_polynomial</motorType>
|
|
<controlMethod>duty_cycle</controlMethod>
|
|
<minCommand>0.00</minCommand>
|
|
<minDutyCycle>1100</minDutyCycle>
|
|
<maxDutyCycle>1900</maxDutyCycle>
|
|
<bidirectionalMotor>1</bidirectionalMotor>
|
|
<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
|
|
<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
|
|
</plugin>
|
|
<plugin filename="libGenericMotorModelPlugin.so" name="gz::sim::systems::GenericMotorModel">
|
|
<jointName>thruster7_joint</jointName>
|
|
<linkName>thruster7</linkName>
|
|
<motorNumber>7</motorNumber>
|
|
<turningDirection>ccw</turningDirection>
|
|
<timeConstantUp>0.0125</timeConstantUp>
|
|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100.0</maxRotVelocity>
|
|
<motorConstant>10</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>command/motor_speed</commandSubTopic>
|
|
<rotorDragCoefficient>0</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>0</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
|
|
<motorType>force_polynomial</motorType>
|
|
<controlMethod>duty_cycle</controlMethod>
|
|
<minCommand>0.00</minCommand>
|
|
<minDutyCycle>1100</minDutyCycle>
|
|
<maxDutyCycle>1900</maxDutyCycle>
|
|
<bidirectionalMotor>1</bidirectionalMotor>
|
|
<positiveThrustPolynomial>[0.0, 4.53, 0.0, 0.0, 0.0, 0.0]</positiveThrustPolynomial>
|
|
<negativeThrustPolynomial>[0.0, 3.52, 0.0, 0.0, 0.0, 0.0]</negativeThrustPolynomial>
|
|
</plugin>
|
|
<plugin filename="gz-sim-odometry-publisher-system"
|
|
name="gz::sim::systems::OdometryPublisher">
|
|
<dimensions>3</dimensions>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|
|
|