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Added Sikorsky-X2 model and ardupilot demo world
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| <?xml version="1.0"?> | ||
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| <model> | ||
| <name>Sikorsky-X2_with_ArduPilot</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
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| <author> | ||
| <name>Seunghwan Jo</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
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| <description> | ||
| Compound Coaxial Helicopter Sikorsky X2's RC model with ArduPilot | ||
| </description> | ||
| </model> |
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| <?xml version='1.0'?> | ||
| <sdf version='1.6'> | ||
| <model name="Sikorsky-X2_ArduPilot"> | ||
| <pose>0 0 0 0 0 0</pose> | ||
| <include> | ||
| <uri>model://sikorsky-X2</uri> | ||
| <pose>0 0 0.2 0 0 0</pose> | ||
| </include> | ||
| <link name="cam_link"> | ||
| <pose>0 0 0 0 0 0 </pose> | ||
| <inertial> | ||
| <mass>0.01</mass> | ||
| <inertia> | ||
| <ixx>0.001</ixx> | ||
| <iyy>0.001</iyy> | ||
| <izz>0.001</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <sensor name="chase_cam" type="camera"> | ||
| <pose>-3 -1 1.4 0 0.37 0</pose> | ||
| <camera> | ||
| <horizontal_fov>1.2</horizontal_fov> | ||
| <image> | ||
| <width>1920</width> | ||
| <height>1080</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>1000</far> | ||
| </clip> | ||
| </camera> | ||
| <always_on>0</always_on> | ||
| <update_rate>60</update_rate> | ||
| <visualize>false</visualize> | ||
| </sensor> | ||
| </link> | ||
| <joint name="camera_mount" type="fixed"> | ||
| <child>cam_link</child> | ||
| <parent>sikorsky-X2::base_link</parent> | ||
| <axis> | ||
| <xyz>0 0 1</xyz> | ||
| <limit> | ||
| <upper>0</upper> | ||
| <lower>0</lower> | ||
| </limit> | ||
| </axis> | ||
| </joint> | ||
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| <plugin name="ardupilot_plugin" filename="libArduPilotPlugin.so"> | ||
| <fdm_addr>127.0.0.1</fdm_addr> | ||
| <fdm_port_in>9002</fdm_port_in> | ||
| <fdm_port_out>9003</fdm_port_out> | ||
| <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown> | ||
| <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED> | ||
| <imuName>Sikorsky-X2_ArduPilot::sikorsky-X2::imu_link::imu_sensor</imuName> | ||
| <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount> | ||
| <!-- | ||
| incoming control command [0, 1] | ||
| so offset it by 0 to get [0, 1] | ||
| and divide max target by 1. | ||
| offset = 0 | ||
| multiplier = 838 max rpm / 1 = 838 | ||
| --> | ||
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| <control channel="0"> | ||
| <multiplier>1</multiplier> | ||
| <offset>-0.5</offset> | ||
| <type>POSITION</type> | ||
| <p_gain>10</p_gain> | ||
| <i_gain>0</i_gain> | ||
| <d_gain>0</d_gain> | ||
| <i_max>0</i_max> | ||
| <i_min>0</i_min> | ||
| <cmd_max>10</cmd_max> | ||
| <cmd_min>-10</cmd_min> | ||
| <jointName>sikorsky-X2::swashplate_joint</jointName> | ||
| </control> | ||
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| <control channel="1"> | ||
| <multiplier>1</multiplier> | ||
| <offset>-0.5</offset> | ||
| <type>POSITION</type> | ||
| <p_gain>10</p_gain> | ||
| <i_gain>0</i_gain> | ||
| <d_gain>0</d_gain> | ||
| <i_max>0</i_max> | ||
| <i_min>0</i_min> | ||
| <cmd_max>10</cmd_max> | ||
| <cmd_min>-10</cmd_min> | ||
| <jointName>sikorsky-X2::swashplate2_joint</jointName> | ||
| </control> | ||
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| <control channel="4"> | ||
| <multiplier>838</multiplier> | ||
| <offset>0</offset> | ||
| <type>VELOCITY</type> | ||
| <p_gain>1</p_gain> | ||
| <i_gain>0</i_gain> | ||
| <d_gain>0</d_gain> | ||
| <i_max>0</i_max> | ||
| <i_min>0</i_min> | ||
| <cmd_max>10</cmd_max> | ||
| <cmd_min>0</cmd_min> | ||
| <jointName>sikorsky-X2::blade_up_joint</jointName> | ||
| <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim> | ||
| </control> | ||
| <control channel="5"> | ||
| <multiplier>-838</multiplier> | ||
| <offset>0</offset> | ||
| <type>VELOCITY</type> | ||
| <p_gain>1</p_gain> | ||
| <i_gain>0</i_gain> | ||
| <d_gain>0</d_gain> | ||
| <i_max>0</i_max> | ||
| <i_min>0</i_min> | ||
| <cmd_max>0</cmd_max> | ||
| <cmd_min>-10</cmd_min> | ||
| <jointName>sikorsky-X2::blade_down_joint</jointName> | ||
| </control> | ||
| --> | ||
| </plugin> | ||
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| </model> | ||
| </sdf> |
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Added some gazebo models and world
take
gazebo_models/sikorsky-X2
gazebo_models/Sikorsky-X2_with-ArduPilot
gazebo_models/ZED_stereocamera
if you interested.
and
gazebo_worlds/X2_ardupilot.world