mirror of
https://github.com/CopterExpress/clover.git
synced 2026-05-26 11:43:25 +00:00
clover_description: simplify URDF and copy Gazebo plugins from current PX4’s Iris
This commit is contained in:
Oleg Kalachev
@@ -1,5 +1,5 @@
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<?xml version="1.0"?>
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<robot name="clover_camera" xmlns:xacro="http://ros.org/wiki/xacro">
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<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="main_camera" default="true"/>
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<xacro:arg name="rangefinder" default="true"/>
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@@ -1,34 +1,9 @@
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<?xml version="1.0"?>
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<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Properties that can be assigned at build time as arguments.
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Is there a reason not to make all properties arguments?
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-->
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<xacro:arg name='name' default='iris' />
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<xacro:arg name='mavlink_addr' default='INADDR_ANY' />
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<xacro:arg name='mavlink_udp_port' default='14560' />
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<xacro:arg name='mavlink_tcp_port' default='4560' />
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<xacro:arg name='serial_enabled' default='false' />
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<xacro:arg name='serial_device' default='/dev/ttyACM0' />
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<xacro:arg name='baudrate' default='921600' />
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<xacro:arg name='qgc_addr' default='INADDR_ANY' />
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<xacro:arg name='qgc_udp_port' default='14550' />
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<xacro:arg name='sdk_addr' default='INADDR_ANY' />
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<xacro:arg name='sdk_udp_port' default='14540' />
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<xacro:arg name='hil_mode' default='false' />
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<xacro:arg name='hil_state_level' default='false' />
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<xacro:arg name='send_vision_estimation' default='false' />
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<xacro:arg name='send_odometry' default='false' />
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<xacro:arg name='enable_lockstep' default='true' />
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<xacro:arg name='use_tcp' default='true' />
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<xacro:arg name='vehicle_is_tailsitter' default='false' />
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<xacro:arg name='visual_material' default='DarkGrey' />
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<xacro:arg name='enable_mavlink_interface' default='true' />
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<xacro:arg name='enable_wind' default='false' />
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<!-- The following causes segfault with multiple vehicles if defaults to true!!! -->
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<xacro:arg name='enable_ground_truth' default='false' />
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<xacro:arg name='enable_logging' default='false' />
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<xacro:arg name='log_file' default='iris' />
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<xacro:arg name='log_file' default='clover' />
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<!-- macros for gazebo plugins, sensors -->
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<xacro:include filename="../component_snippets.urdf.xacro" />
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@@ -49,126 +24,8 @@
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/>
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</xacro:if>
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<!-- Instantiate magnetometer plugin. -->
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<xacro:magnetometer_plugin_macro
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namespace="${namespace}"
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pub_rate="20"
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noise_density="0.0004"
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random_walk="0.0000064"
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bias_correlation_time="600"
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mag_topic="/mag"
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>
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</xacro:magnetometer_plugin_macro>
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<!-- Instantiate barometer plugin. -->
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<xacro:barometer_plugin_macro
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namespace="${namespace}"
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pub_rate="10"
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baro_topic="/baro"
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>
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</xacro:barometer_plugin_macro>
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<xacro:if value="$(arg enable_mavlink_interface)">
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<!-- Instantiate mavlink telemetry interface. -->
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<xacro:mavlink_interface_macro
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namespace="${namespace}"
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imu_sub_topic="/imu"
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gps_sub_topic="/gps"
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mag_sub_topic="/mag"
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baro_sub_topic="/baro"
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mavlink_addr="$(arg mavlink_addr)"
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mavlink_udp_port="$(arg mavlink_udp_port)"
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mavlink_tcp_port="$(arg mavlink_tcp_port)"
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serial_enabled="$(arg serial_enabled)"
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serial_device="$(arg serial_device)"
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baudrate="$(arg baudrate)"
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qgc_addr="$(arg qgc_addr)"
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qgc_udp_port="$(arg qgc_udp_port)"
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sdk_addr="$(arg sdk_addr)"
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sdk_udp_port="$(arg sdk_udp_port)"
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hil_mode="$(arg hil_mode)"
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hil_state_level="$(arg hil_state_level)"
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vehicle_is_tailsitter="$(arg vehicle_is_tailsitter)"
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send_vision_estimation="$(arg send_vision_estimation)"
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send_odometry="$(arg send_odometry)"
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enable_lockstep="$(arg enable_lockstep)"
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use_tcp="$(arg use_tcp)"
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>
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</xacro:mavlink_interface_macro>
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</xacro:if>
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<!-- Mount an ADIS16448 IMU. -->
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<xacro:imu_plugin_macro
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namespace="${namespace}"
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imu_suffix=""
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parent_link="base_link"
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imu_topic="/imu"
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mass_imu_sensor="0.015"
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gyroscope_noise_density="0.0003394"
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gyroscopoe_random_walk="0.000038785"
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gyroscope_bias_correlation_time="1000.0"
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gyroscope_turn_on_bias_sigma="0.0087"
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accelerometer_noise_density="0.004"
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accelerometer_random_walk="0.006"
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accelerometer_bias_correlation_time="300.0"
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accelerometer_turn_on_bias_sigma="0.1960"
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>
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:imu_plugin_macro>
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<xacro:if value="$(arg enable_ground_truth)">
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<!-- Mount an IMU providing ground truth. -->
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<xacro:imu_plugin_macro
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namespace="${namespace}"
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imu_suffix="gt"
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parent_link="base_link"
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imu_topic="ground_truth/imu"
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mass_imu_sensor="0.00001"
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gyroscope_noise_density="0.0"
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gyroscopoe_random_walk="0.0"
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gyroscope_bias_correlation_time="1000.0"
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gyroscope_turn_on_bias_sigma="0.0"
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accelerometer_noise_density="0.0"
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accelerometer_random_walk="0.0"
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accelerometer_bias_correlation_time="300.0"
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accelerometer_turn_on_bias_sigma="0.0"
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>
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:imu_plugin_macro>
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<!-- Mount a generic odometry sensor providing ground truth. -->
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<xacro:odometry_plugin_macro
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namespace="${namespace}/ground_truth"
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odometry_sensor_suffix="gt"
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parent_link="base_link"
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pose_topic="pose"
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pose_with_covariance_topic="pose_with_covariance"
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position_topic="position"
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transform_topic="transform"
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odometry_topic="odometry"
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parent_frame_id="world"
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mass_odometry_sensor="0.00001"
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measurement_divisor="1"
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measurement_delay="0"
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unknown_delay="0.0"
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noise_normal_position="0 0 0"
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noise_normal_quaternion="0 0 0"
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noise_normal_linear_velocity="0 0 0"
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noise_normal_angular_velocity="0 0 0"
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noise_uniform_position="0 0 0"
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noise_uniform_quaternion="0 0 0"
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noise_uniform_linear_velocity="0 0 0"
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noise_uniform_angular_velocity="0 0 0"
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enable_odometry_map="false"
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odometry_map=""
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image_scale=""
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>
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</xacro:odometry_plugin_macro>
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</xacro:if>
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<!-- Gazebo plugins -->
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<xacro:include filename="$(find clover_description)/urdf/clover/clover4_gazebo.xacro" />
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<xacro:if value="$(arg enable_logging)">
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<!-- Instantiate a logger -->
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183
clover_description/urdf/clover/clover4_gazebo.xacro
Normal file
183
clover_description/urdf/clover/clover4_gazebo.xacro
Normal file
@@ -0,0 +1,183 @@
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<?xml version="1.0"?>
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<!-- Reference: https://github.com/PX4/PX4-SITL_gazebo/blob/7505aee97d2d3112fb2bd95198946345c6fa0b07/models/iris/iris.sdf.jinja#L430 -->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- IMU link -->
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<link name="/imu_link">
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<inertial>
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<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
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<mass value="0.015"/>
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<!-- [kg] -->
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</inertial>
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</link>
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<!-- IMU joint -->
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<joint name="/imu_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="/imu_link"/>
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<!-- <limit upper="0" lower="0" effort="0" velocity="0" /> -->
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</joint>
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<gazebo reference="/imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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<preserveFixedJoint>true</preserveFixedJoint>
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</gazebo>
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<gazebo>
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<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
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<robotNamespace/>
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</plugin>
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<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
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<robotNamespace/>
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<pubRate>100</pubRate>
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<noiseDensity>0.0004</noiseDensity>
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<randomWalk>6.4e-06</randomWalk>
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<biasCorrelationTime>600</biasCorrelationTime>
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<magTopic>/mag</magTopic>
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</plugin>
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<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
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<robotNamespace/>
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<pubRate>50</pubRate>
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<baroTopic>/baro</baroTopic>
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<baroDriftPaPerSec>0</baroDriftPaPerSec>
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</plugin>
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<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
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<robotNamespace/>
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<imuSubTopic>/imu</imuSubTopic>
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<magSubTopic>/mag</magSubTopic>
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<baroSubTopic>/baro</baroSubTopic>
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<mavlink_addr>INADDR_ANY</mavlink_addr>
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<mavlink_tcp_port>4560</mavlink_tcp_port>
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<mavlink_udp_port>14560</mavlink_udp_port>
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<serialEnabled>false</serialEnabled>
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<serialDevice>/dev/ttyACM0</serialDevice>
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<baudRate>921600</baudRate>
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<qgc_addr>INADDR_ANY</qgc_addr>
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<qgc_udp_port>14550</qgc_udp_port>
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<sdk_addr>INADDR_ANY</sdk_addr>
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<sdk_udp_port>14540</sdk_udp_port>
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<hil_mode>false</hil_mode>
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<hil_state_level>0</hil_state_level>
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<send_vision_estimation>0</send_vision_estimation>
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<send_odometry>1</send_odometry>
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<enable_lockstep>1</enable_lockstep>
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<use_tcp>1</use_tcp>
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<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
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<control_channels>
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<channel name='rotor1'>
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<input_index>0</input_index>
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<input_offset>0</input_offset>
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<input_scaling>1000</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>100</zero_position_armed>
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<joint_control_type>velocity</joint_control_type>
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</channel>
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<channel name='rotor2'>
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<input_index>1</input_index>
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<input_offset>0</input_offset>
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<input_scaling>1000</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>100</zero_position_armed>
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<joint_control_type>velocity</joint_control_type>
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</channel>
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<channel name='rotor3'>
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<input_index>2</input_index>
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<input_offset>0</input_offset>
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<input_scaling>1000</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>100</zero_position_armed>
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<joint_control_type>velocity</joint_control_type>
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</channel>
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<channel name='rotor4'>
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<input_index>3</input_index>
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<input_offset>0</input_offset>
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<input_scaling>1000</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>100</zero_position_armed>
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<joint_control_type>velocity</joint_control_type>
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</channel>
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<channel name='rotor5'>
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<input_index>4</input_index>
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<input_offset>1</input_offset>
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<input_scaling>324.6</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>0</zero_position_armed>
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<joint_control_type>velocity</joint_control_type>
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<joint_control_pid>
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<p>0.1</p>
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<i>0</i>
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<d>0</d>
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<iMax>0.0</iMax>
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<iMin>0.0</iMin>
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<cmdMax>2</cmdMax>
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<cmdMin>-2</cmdMin>
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</joint_control_pid>
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<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
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</channel>
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<channel name='rotor6'>
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<input_index>5</input_index>
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<input_offset>0</input_offset>
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<input_scaling>0.524</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>0</zero_position_armed>
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<joint_control_type>position</joint_control_type>
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<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
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<joint_control_pid>
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<p>10.0</p>
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<i>0</i>
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<d>0</d>
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<iMax>0</iMax>
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<iMin>0</iMin>
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<cmdMax>20</cmdMax>
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<cmdMin>-20</cmdMin>
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</joint_control_pid>
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</channel>
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<channel name='rotor7'>
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<input_index>6</input_index>
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<input_offset>0</input_offset>
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<input_scaling>0.524</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>0</zero_position_armed>
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<joint_control_type>position</joint_control_type>
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<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
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<joint_control_pid>
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<p>10.0</p>
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<i>0</i>
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<d>0</d>
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<iMax>0</iMax>
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<iMin>0</iMin>
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<cmdMax>20</cmdMax>
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<cmdMin>-20</cmdMin>
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</joint_control_pid>
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</channel>
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<channel name='rotor8'>
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<input_index>7</input_index>
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<input_offset>0</input_offset>
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<input_scaling>0.524</input_scaling>
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<zero_position_disarmed>0</zero_position_disarmed>
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<zero_position_armed>0</zero_position_armed>
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<joint_control_type>position</joint_control_type>
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</channel>
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</control_channels>
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</plugin>
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<static>0</static>
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<plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
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<robotNamespace/>
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<linkName>/imu_link</linkName>
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<imuTopic>/imu</imuTopic>
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<gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
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<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
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<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
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<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
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<accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
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<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
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<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
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<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
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</plugin>
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</gazebo>
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</robot>
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@@ -6,7 +6,7 @@
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-->
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<robot name="iris" xmlns:xacro="http://ros.org/wiki/xacro">
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<robot name="clover" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Properties -->
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<xacro:property name="namespace" value="" />
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<xacro:property name="rotor_velocity_slowdown_sim" value="10" />
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