Hexapod Copter: add model, script and params

- Initial version based on Quadruped
- Reuse existing materials and meshes.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update world name

Signed-off-by: Rhys Mainwaring <[email protected]>

- Add mid legs
- Reuse existing materials and meshes.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Fix indentation of control elements

Signed-off-by: Rhys Mainwaring <[email protected]>

- Add motors - initial version
- Initial motor placement - props not correctly oriented.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update joint controller gains and initial position

Signed-off-by: Rhys Mainwaring <[email protected]>

- Add initial version of user doc

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update motors and add rotor lift
- Update motor names to include index.
- Add lift drag plugins for props.
- Orient motors correctly for standard hexa frame.
- Add velocity control elements for motors.
- Disable joint control elements.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update version of user doc
- The default hexa frame works.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update initial position of femur links
- Change initial position from -0.6 to -0.5.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Configure model as FRAME_CLASS 15 (Scripting Matrix).
- Add control elements for the femur and tibia joints of the mid legs.
- Fix servo limits min 1000, max 2000.
- Add Lua script for hexapod copter.
- Add param file for hexapod copter.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Add <have_32_channels> parameter to model.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update model docs.

Signed-off-by: Rhys Mainwaring <[email protected]>

- Update script to use dynamics motor mixer.
- Update params to use FRAME_CLASS 17.

Signed-off-by: Rhys Mainwaring <[email protected]>

Gazebo/config/hexapod_copter.param

@@ -0,0 +1,127 @@
+FRAME_CLASS      17.0        # Dynamic Scripting Matrix
+FRAME_TYPE       1           # X
+SERVO_32_ENABLE  1
+
+SCR_DEBUG_OPTS   0
+SCR_DIR_DISABLE  0
+SCR_ENABLE       1           # Lua Scripts
+SCR_HEAP_SIZE    204800
+SCR_USER1        0.0
+SCR_USER2        0.0
+SCR_USER3        0.0
+SCR_USER4        0.0
+SCR_USER5        0.0
+SCR_USER6        0.0
+SCR_VM_I_COUNT   10000
+
+SERVO1_FUNCTION  33.0        # Motor 1
+SERVO1_MAX       2000.0
+SERVO1_MIN       1000.0
+SERVO1_REVERSED  0
+SERVO1_TRIM      1500.0
+SERVO2_FUNCTION  34.0        # Motor 2
+SERVO2_MAX       2000.0
+SERVO2_MIN       1000.0
+SERVO2_REVERSED  0
+SERVO2_TRIM      1500.0
+SERVO3_FUNCTION  35.0        # Motor 3
+SERVO3_MAX       2000.0
+SERVO3_MIN       1000.0
+SERVO3_REVERSED  0
+SERVO3_TRIM      1500.0
+SERVO4_FUNCTION  36.0        # Motor 4
+SERVO4_MAX       2000.0
+SERVO4_MIN       1000.0
+SERVO4_REVERSED  0
+SERVO4_TRIM      1500.0
+SERVO5_FUNCTION  37.0        # Motor 5
+SERVO5_MAX       2000.0
+SERVO5_MIN       1000.0
+SERVO5_REVERSED  0
+SERVO5_TRIM      1500.0
+SERVO6_FUNCTION  38.0        # Motor 6
+SERVO6_MAX       2000.0
+SERVO6_MIN       1000.0
+SERVO6_REVERSED  0
+SERVO6_TRIM      1500.0
+
+SERVO7_FUNCTION  94.0        # Script 1
+SERVO7_MAX       2000.0
+SERVO7_MIN       1000.0
+SERVO7_REVERSED  0
+SERVO7_TRIM      1500.0
+SERVO8_FUNCTION  95.0        # Script 2
+SERVO8_MAX       2000.0
+SERVO8_MIN       1000.0
+SERVO8_REVERSED  0
+SERVO8_TRIM      1500.0
+SERVO9_FUNCTION  96.0        # Script 3
+SERVO9_MAX       2000.0
+SERVO9_MIN       1000.0
+SERVO9_REVERSED  0
+SERVO9_TRIM      1500.0
+SERVO10_FUNCTION  97.0        # Script 4
+SERVO10_MAX       2000.0
+SERVO10_MIN       1000.0
+SERVO10_REVERSED  0
+SERVO10_TRIM      1500.0
+SERVO11_FUNCTION  98.0        # Script 5
+SERVO11_MAX       2000.0
+SERVO11_MIN       1000.0
+SERVO11_REVERSED  0
+SERVO11_TRIM      1500.0
+SERVO12_FUNCTION  99.0        # Script 6
+SERVO12_MAX       2000.0
+SERVO12_MIN       1000.0
+SERVO12_REVERSED  0
+SERVO12_TRIM      1500.0
+SERVO13_FUNCTION  100.0       # Script 7
+SERVO13_MAX       2000.0
+SERVO13_MIN       1000.0
+SERVO13_REVERSED  0
+SERVO13_TRIM      1500.0
+SERVO14_FUNCTION  101.0       # Script 8
+SERVO14_MAX       2000.0
+SERVO14_MIN       1000.0
+SERVO14_REVERSED  0
+SERVO15_TRIM      1500.0
+SERVO15_FUNCTION  102.0       # Script 9
+SERVO15_MAX       2000.0
+SERVO15_MIN       1000.0
+SERVO15_REVERSED  0
+SERVO15_TRIM      1500.0
+SERVO16_FUNCTION 103.0       # Script 10
+SERVO16_MAX      2000.0
+SERVO16_MIN      1000.0
+SERVO16_REVERSED 0
+SERVO16_TRIM     1500.0
+SERVO17_FUNCTION 104.0       # Script 11
+SERVO17_MAX      2000.0
+SERVO17_MIN      1000.0
+SERVO17_REVERSED 0
+SERVO17_TRIM     1500.0
+SERVO18_FUNCTION 105.0       # Script 12
+SERVO18_MAX      2000.0
+SERVO18_MIN      1000.0
+SERVO18_REVERSED 0
+SERVO18_TRIM     1500.0
+SERVO19_FUNCTION 106.0       # Script 13
+SERVO19_MAX      2000.0
+SERVO19_MIN      1000.0
+SERVO19_REVERSED 0
+SERVO19_TRIM     1500.0
+SERVO20_FUNCTION 107.0       # Script 14
+SERVO20_MAX      2000.0
+SERVO20_MIN      1000.0
+SERVO20_REVERSED 0
+SERVO20_TRIM     1500.0
+SERVO21_FUNCTION 108.0       # Script 15
+SERVO21_MAX      2000.0
+SERVO21_MIN      1000.0
+SERVO21_REVERSED 0
+SERVO21_TRIM     1500.0
+SERVO22_FUNCTION 109.0       # Script 16
+SERVO22_MAX      2000.0
+SERVO22_MIN      1000.0
+SERVO22_REVERSED 0
+SERVO22_TRIM     1500.0

Gazebo/docs/HexapodCopter.md

@@ -0,0 +1,62 @@
+# Hexapod Copter
+
+A Gazebo model for a hexapod copter (a hexapod rover with motors on each arm).
+
+The original quadruped version of this frame is the result of Ashvath's project [GSoC 2020: Walking Robot Support For Ardupilot](https://discuss.ardupilot.org/t/gsoc-2020-walking-robot-support-for-ardupilot/57080).
+
+
+![hexapod_copter_hover](https://user-images.githubusercontent.com/24916364/225340320-9aa31fe2-4602-4036-ba6b-491f72097c01.jpg)
+
+The frame is fully articulated. Each of the 6 legs has 3 joints, however only 16 are actuated. The middle two 'hip' joints are fixed in this example. The motor ordering and orientation is the same as a standard hexa X frame, however in this case the FRAME_CLASS 17 (Dynamic Scripting Matrix) and the motor mixing is set in the Lua script.
+
+The legs have two positions - folded when disarmed, and unfolded when armed.
+
+If the scripting control of the legs is disabled they may be moved using gz topic commands:
+
+```bash
+# move the mid right femur joint down from its initial position of -0.6 rad to -0.4 rad 
+gz topic -t "/femur_mr_joint/cmd_pos" -m gz.msgs.Double -p "data: -0.4"
+```
+
+## Usage
+
+Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions.
+
+Update the `GZ_SIM_RESOURCE_PATH` to include these models:
+
+```bash
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
+$HOME/SITL_Models/Gazebo/models:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+$ gz sim -v4 -r hexapod_copter_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+Copy the script $HOME/SITL_Models/Gazebo/scripts/hexapod_copter.lua to the SITL scripts directory,
+then start SITL:
+
+```bash
+sim_vehicle.py -D -v ArduCopter -f hexa --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/hexapod_copter.param --console
+```
+
+## Dimensions
+
+- height: 53.23 mm
+- coxa_axis_width: 101.42 mm
+- coxa_axis_length: 177.03 mm
+- coxa_axis_to_femur_axis: 30.0 mm
+- femur_axis_to_tibia_axis: 76.17 mm
+- tibia_axis_to_foot: 122.0 mm
+
+## Credits
+
+### Hexapod CAD model
+
+- Author: [Tim Mills](https://grabcad.com/tim.mills-1)
+- Model: [Hexapod Robot](https://grabcad.com/library/hexapod-robot-1)

Gazebo/models/hexapod_copter/model.config

@@ -0,0 +1,20 @@
+<?xml version="1.0" ?>
+<model>
+  <name>Hexapod Copter</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+
+  <author>
+    <name>ashvath100</name>
+  </author>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    A Gazebo model of a Hexapod Copter
+  </description>
+
+</model>