AION R1: Add AION R1 Rover model

- Add world file and silt params for R1 Rover - Fix model name in model.config - Fix imu orientation in imu_sensor element - IMU must have z-down. - Remove stand - Fix formatting - Replace tabs with spaces. - Remove unused or redundant elements - Reduce chassis mass to match specs - Update throttle and steering controller params - Run rover-quicktune and update params - Add user guide Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Feb 5, 2024 · 835a747 · 835a747
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diff --git a/Gazebo/config/r1_rover.param b/Gazebo/config/r1_rover.param
diff --git a/Gazebo/docs/AionR1.md b/Gazebo/docs/AionR1.md
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+# AION R1 skid-steer rover
+
+A model for an [AION R1](https://discuss.ardupilot.org/t/ardurover-r1-available-now/22109) skid-steer rover.
+
+<img width="1312" alt="aion_r1_gz_sim" src="https://github.com/ArduPilot/SITL_Models/assets/24916364/58f25501-5863-423c-a5bd-6c3cbf9612e3">
+
+## 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:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r r1_rover_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+The model may be run with the default `rover-skid` SITL parameters.
+A set of custom parameters is provided with steering and speed PIDs
+generated by the [`rover-quicktune.lua`](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/rover-quicktune.lua) script.
+
+```bash
+sim_vehicle.py -v Rover -f rover-skid --model JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/r1_rover.param --console --map
+```
+
+## Links
+
+- Model adapted from: [Add aion robotics r1 rover #394](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/394).
diff --git a/Gazebo/models/r1_rover/meshes/antenna_link.STL b/Gazebo/models/r1_rover/meshes/antenna_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/battery_link.STL b/Gazebo/models/r1_rover/meshes/battery_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/chassis_link.STL b/Gazebo/models/r1_rover/meshes/chassis_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/housing_link.STL b/Gazebo/models/r1_rover/meshes/housing_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/top_link.STL b/Gazebo/models/r1_rover/meshes/top_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/wheel_link.STL b/Gazebo/models/r1_rover/meshes/wheel_link.STL
diff --git a/Gazebo/models/r1_rover/meshes/wheel_link_simple.STL b/Gazebo/models/r1_rover/meshes/wheel_link_simple.STL
diff --git a/Gazebo/models/r1_rover/model.config b/Gazebo/models/r1_rover/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>r1_rover</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+  <license>https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt</license>
+
+  <author>
+   <name>Nicholas Nunno</name>
+  </author>
+
+  <description>
+    This is a model for the Aion robotics R1 ugv rover. The sdf file is adpated from [aion_io](https://github.com/aionrobotics/aion_io)
+    [Other Links](https://github.com/PX4/PX4-SITL_gazebo-classic/pull/394#issue-548486082)
+  </description>
+</model>