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Gazebo: Add model for Omnicopter
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- Migrate ignition to gz.

Signed-off-by: Rhys Mainwaring <[email protected]>
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@srmainwaring
srmainwaring committed Jan 10, 2023
1 parent f323056 commit 838274d
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Showing 2 changed files with 49 additions and 49 deletions.
78 changes: 39 additions & 39 deletions Gazebo/models/omnicopter/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -886,37 +886,37 @@
</joint>

<!-- plugins -->
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
<plugin filename="gz-sim-joint-state-publisher-system"
name="gz::sim::systems::JointStatePublisher">
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_1_joint</joint_name>
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_2_joint</joint_name>
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_3_joint</joint_name>
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_4_joint</joint_name>
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_5_joint</joint_name>
</plugin>
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
name="ignition::gazebo::systems::ApplyJointForce">
<plugin filename="gz-sim-apply-joint-force-system"
name="gz::sim::systems::ApplyJointForce">
<joint_name>motor_6_joint</joint_name>
</plugin>

<!-- prop motor_1 (cw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -932,8 +932,8 @@
<upward>0 0 1</upward>
<link_name>motor_1_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -951,8 +951,8 @@
</plugin>

<!-- prop motor_2 (cw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -968,8 +968,8 @@
<upward>0 0 1</upward>
<link_name>motor_2_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -987,8 +987,8 @@
</plugin>

<!-- prop motor_3 (ccw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1004,8 +1004,8 @@
<upward>0 0 1</upward>
<link_name>motor_3_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1023,8 +1023,8 @@
</plugin>

<!-- prop motor_4 (ccw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1040,8 +1040,8 @@
<upward>0 0 1</upward>
<link_name>motor_4_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1059,8 +1059,8 @@
</plugin>

<!-- prop motor_5 (cw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1076,8 +1076,8 @@
<upward>0 0 1</upward>
<link_name>motor_5_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1095,8 +1095,8 @@
</plugin>

<!-- prop motor_6 (ccw) lift-drag -->
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1112,8 +1112,8 @@
<upward>0 0 1</upward>
<link_name>motor_6_link</link_name>
</plugin>
<plugin filename="libignition-gazebo-lift-drag-system.so"
name="ignition::gazebo::systems::LiftDrag">
<plugin filename="gz-sim-lift-drag-system"
name="gz::sim::systems::LiftDrag">
<a0>0.3</a0>
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
Expand All @@ -1130,7 +1130,7 @@
<link_name>motor_6_link</link_name>
</plugin>

<plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
<plugin name="ArduPilotPlugin" filename="ArduPilotPlugin">
<!-- Port settings -->
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
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20 changes: 10 additions & 10 deletions Gazebo/worlds/omnicopter_runway.sdf
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Original file line number Diff line number Diff line change
@@ -1,20 +1,20 @@
<?xml version="1.0" ?>
<sdf version="1.7">
<world name="omnicopter_runway">
<plugin filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
<plugin filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
<plugin filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
<plugin filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
<plugin filename="gz-sim-imu-system"
name="gz::sim::systems::Imu">
</plugin>
<plugin filename="ignition-gazebo-forcetorque-system"
name="ignition::gazebo::systems::ForceTorque" />
<plugin filename="gz-sim-forcetorque-system"
name="gz::sim::systems::ForceTorque" />

<scene>
<ambient>1.0 1.0 1.0</ambient>
Expand Down

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