[Mini Quadrotor] create the quadrotor model with 3D LiDAR of Livox MI…

…D360

robots/mini_quadrotor/bin/rosbag_livox_record.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rosrun mini_quadrotor rosbag_record.sh ${1:-quadrotor} /livox/lidar /livox/imu /Odometry /Odometry_precede ${@:2}

robots/mini_quadrotor/bin/rosbag_record.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rosrun aerial_robot_base rosbag_control_data.sh ${1:-quadrotor}  ${@:2}

robots/mini_quadrotor/config/NavigationConfig.yaml

@@ -8,7 +8,7 @@ navigation:
   # Attitude Control Mode: 4
 
 
-  takeoff_height: 1.0 #1.0
+  takeoff_height: 0.6 #1.0
   outdoor_takeoff_height: 1.5
 
   # teleop operation

robots/mini_quadrotor/launch/includes/sensors.launch.xml

@@ -16,11 +16,19 @@
 
         <!-- mocap -->
         <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch" />
+
+        <!-- livox mid360 -->
+        <include file="$(find livox_ros_driver2)/launch_ROS1/msg_MID360.launch" />
+        <include file="$(find fast_lio)/launch/mapping_avia.launch" >
+          <arg name="rviz" value="false" />
+        </include>
+
       </group>
     </group>
 
     <!-- basic configuration for sensors (e.g. noise sigma) -->
     <rosparam file="$(find aerial_robot_base)/config/sensors/imu/spinal.yaml" command="load" />
     <rosparam file="$(find aerial_robot_base)/config/sensors/mocap.yaml" command="load" />
   </group>
+
 </launch>

robots/mini_quadrotor/urdf/robot.urdf.xacro

@@ -7,8 +7,8 @@
   <thrust_link name="thrust" />
 
   <!-- kinematics [m] -->
-  <xacro:property name="rotor_x" value="0.070" />
-  <xacro:property name="rotor_y" value="0.086" />
+  <xacro:property name="rotor_x" value="0.085" />
+  <xacro:property name="rotor_y" value="0.085" />
   <xacro:property name="rotor_z" value="0.026" />
 
   <!-- dynamics -->
@@ -106,17 +106,17 @@
   <!-- main_body -->
   <link name="main_body">
     <inertial>
-      <mass value = "0.432" />
-      <origin xyz="0 0 0.017" rpy="0 0 0"/>
+      <mass value = "0.832" /> 
+      <origin xyz="0.002 0 ${0.028 - 0.002}" rpy="0 0 0"/> <!-- TODO: true cog pos -->
       <inertia
-          ixx="0.0021" ixy="0" ixz="0"
-          iyy="0.0015" iyz="0"
-          izz="0.0032"/>
+          ixx="0.0030" ixy="0" ixz="0"
+          iyy="0.0030" iyz="0"
+          izz="0.0045"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://mini_quadrotor/urdf/mesh/main_body.dae" />
+        <mesh filename="package://mini_quadrotor/urdf/mesh/main_body_livox.dae" />
       </geometry>
     </visual>
     <collision>
@@ -139,9 +139,21 @@
     </inertial>
   </xacro:extra_module>
 
+  <!-- livox mid360 -->
+  <xacro:extra_module name = "lidar_imu" parent = "main_body" visible = "0" > <!-- should be IMU frame -->
+    <origin xyz="${0.011} ${0.02329} ${0.0425 + 0.047 - 0.04412}" rpy="0 0 0"/> <!-- TODO: the true pos -->
+    <inertial>
+      <mass value = "00" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia
+          ixx="0.0" ixy="0.0" ixz="0.0"
+          iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </xacro:extra_module>
+
   <!-- battery -->
   <xacro:extra_module name = "battery" parent = "main_body" visible = "1" model_url = "package://mini_quadrotor/urdf/mesh/turnigy_3S_2200mAh.dae" >
-    <origin xyz="0.0105 0 -0.012" rpy="0 0 0"/>
+    <origin xyz="0.0 0 -0.035" rpy="${pi/2} 0 0"/>
     <inertial>
       <mass value = "0.188" />
       <origin xyz="0 0 0" rpy="0 0 0"/>