571 lines
16 KiB
XML
571 lines
16 KiB
XML
<?xml version='1.0'?>
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<sdf version="1.6">
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<model name="iris_demo">
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<include>
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<uri>model://iris_with_standoffs</uri>
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</include>
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<include>
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<uri>model://gimbal_small_2d</uri>
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<pose>0 -0.01 0.070 1.57 0 1.57</pose>
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</include>
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<joint name="iris_gimbal_mount" type="revolute">
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<parent>iris::base_link</parent>
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<child>gimbal_small_2d::base_link</child>
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<axis>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<xyz>0 0 1</xyz>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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</joint>
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<!-- visual markers for debugging
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<link name="rotor_0_blade_1_cp">
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<gravity>0</gravity>
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<pose>0.13 -0.22 0.216 0 -0 0</pose>
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<visual name='rotor_0_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp_forward'>
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<pose>0.084 0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_0_blade_2_cp">
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<gravity>0</gravity>
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<pose>0.13 -0.22 0.216 0 -0 0</pose>
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<visual name='rotor_0_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp_forward'>
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<pose>-0.084 -0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_0_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_1_blade_1_cp">
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<gravity>0</gravity>
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<pose>-0.13 0.2 0.216 0 -0 0</pose>
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<visual name='rotor_1_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp_forward'>
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<pose>0.084 0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_1_blade_2_cp">
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<gravity>0</gravity>
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<pose>-0.13 0.2 0.216 0 -0 0</pose>
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<visual name='rotor_1_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp_forward'>
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<pose>-0.084 -0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_1_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_2_blade_1_cp">
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<gravity>0</gravity>
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<pose>0.13 0.22 0.216 0 -0 0</pose>
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<visual name='rotor_2_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp_forward'>
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<pose>0.084 -0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_2_blade_2_cp">
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<gravity>0</gravity>
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<pose>0.13 0.22 0.216 0 -0 0</pose>
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<visual name='rotor_2_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp_forward'>
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<pose>-0.084 0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_2_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_3_blade_1_cp">
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<gravity>0</gravity>
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<pose>-0.13 -0.2 0.216 0 -0 0</pose>
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<visual name='rotor_3_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp_forward'>
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<pose>0.084 -0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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<link name="rotor_3_blade_2_cp">
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<gravity>0</gravity>
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<pose>-0.13 -0.2 0.216 0 -0 0</pose>
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<visual name='rotor_3_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp_forward'>
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<pose>-0.084 0.02 0 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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<visual name='rotor_3_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</sphere>
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</geometry>
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</visual>
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</link>
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-->
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<!-- plugins -->
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<plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_0</link_name>
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</plugin>
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<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_1</link_name>
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</plugin>
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<plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_2</link_name>
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</plugin>
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<plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
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<a0>0.1</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>0.2500</cla>
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<cda>0.10</cda>
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<cma>0.00</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.2</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris::rotor_3</link_name>
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</plugin>
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<plugin name="arducopter_plugin" filename="libArduCopterPlugin.so">
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<imuName>iris_demo::iris::iris/imu_link::imu_sensor</imuName>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<rotor id="0">
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<vel_p_gain>0.01</vel_p_gain>
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<vel_i_gain>0</vel_i_gain>
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<vel_d_gain>0</vel_d_gain>
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<vel_i_max>0</vel_i_max>
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<vel_i_min>0</vel_i_min>
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<vel_cmd_max>2.0</vel_cmd_max>
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<vel_cmd_min>-2.0</vel_cmd_min>
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<jointName>iris::rotor_0_joint</jointName>
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<turningDirection>ccw</turningDirection>
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<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
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</rotor>
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<rotor id="1">
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<vel_p_gain>0.01</vel_p_gain>
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<vel_i_gain>0</vel_i_gain>
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<vel_d_gain>0</vel_d_gain>
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<vel_i_max>0</vel_i_max>
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<vel_i_min>0</vel_i_min>
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<vel_cmd_max>2.0</vel_cmd_max>
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<vel_cmd_min>-2.0</vel_cmd_min>
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<jointName>iris::rotor_1_joint</jointName>
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<turningDirection>ccw</turningDirection>
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<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
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</rotor>
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<rotor id="2">
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<vel_p_gain>0.01</vel_p_gain>
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<vel_i_gain>0</vel_i_gain>
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<vel_d_gain>0</vel_d_gain>
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<vel_i_max>0</vel_i_max>
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<vel_i_min>0</vel_i_min>
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<vel_cmd_max>2.0</vel_cmd_max>
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<vel_cmd_min>-2.0</vel_cmd_min>
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<jointName>iris::rotor_2_joint</jointName>
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<turningDirection>cw</turningDirection>
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<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
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</rotor>
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<rotor id="3">
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<vel_p_gain>0.01</vel_p_gain>
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<vel_i_gain>0</vel_i_gain>
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<vel_d_gain>0</vel_d_gain>
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<vel_i_max>0</vel_i_max>
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<vel_i_min>0</vel_i_min>
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<vel_cmd_max>2.0</vel_cmd_max>
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<vel_cmd_min>-2.0</vel_cmd_min>
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<jointName>iris::rotor_3_joint</jointName>
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<turningDirection>cw</turningDirection>
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<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
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</rotor>
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</plugin>
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</model>
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</sdf>
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