mirror of
https://github.com/CopterExpress/clover.git
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179 lines
7.4 KiB
XML
179 lines
7.4 KiB
XML
<?xml version="1.0"?>
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<!-- Typical physics values for the Clover drone.
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NB: Right now the values are wrong, and taken from the 3DR Iris drone description.
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This is subject to change as correct values are calculated.
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-->
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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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<xacro:if value="$(arg use_clover_physics)">
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<xacro:property name="mass" value="0.7" /> <!-- [kg] -->
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</xacro:if>
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<xacro:unless value="$(arg use_clover_physics)">
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<xacro:property name="mass" value="1.5" /> <!-- [kg] -->
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</xacro:unless>
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<xacro:property name="body_width" value="0.35" /> <!-- [m] -->
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<xacro:property name="body_height" value="0.124" /> <!-- [m] -->
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<xacro:property name="mass_rotor" value="0.01" /> <!-- [kg] -->
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<xacro:property name="arm_length_front_x" value="0.083" /> <!-- [m] -->
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<xacro:property name="arm_length_back_x" value="0.083" /> <!-- [m] -->
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<xacro:property name="arm_length_front_y" value="0.083" /> <!-- [m] -->
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<xacro:property name="arm_length_back_y" value="0.083" /> <!-- [m] -->
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<xacro:property name="rotor_offset_top" value="0.026" /> <!-- [m] -->
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<xacro:property name="radius_rotor" value="0.06" /> <!-- [m] -->
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<xacro:property name="motor_constant" value="8.54858e-06" /> <!-- [kg.m/s^2] -->
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<xacro:property name="moment_constant" value="0.06" /> <!-- [m] -->
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<xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] -->
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<xacro:property name="time_constant_down" value="0.025" /> <!-- [s] -->
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<xacro:property name="max_rot_velocity" value="1100" /> <!-- [rad/s] -->
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<xacro:property name="sin30" value="0.5" />
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<xacro:property name="cos30" value="0.866025403784" />
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<xacro:property name="sqrt2" value="1.4142135623730951" />
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<xacro:property name="rotor_drag_coefficient" value="1.75e-04" />
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<xacro:property name="rolling_moment_coefficient" value="0.000001" />
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<xacro:property name="color" value="DarkGrey" />
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<!-- Property Blocks -->
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<!-- Clover body inertia -->
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<!-- Values from CAD program -->
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<xacro:if value="$(arg use_clover_physics)">
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<xacro:property name="body_inertia">
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<inertia
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ixx="0.0347563"
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iyy="0.0458929"
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izz="0.0977"
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ixy="0.0" ixz="0.0" iyz="0.0" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
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</xacro:property>
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</xacro:if>
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<!-- Box-like inertia -->
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<xacro:unless value="$(arg use_clover_physics)">
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<xacro:property name="body_inertia">
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<inertia
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ixx="${1/12 * mass * (body_height * body_height + body_width * body_width)}"
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iyy="${1/12 * mass * (body_height * body_height + body_width * body_width)}"
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izz="${1/12 * mass * (body_width * body_width + body_width * body_width)}"
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ixy="0.0" ixz="0.0" iyz="0.0" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
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</xacro:property>
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</xacro:unless>
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<!-- inertia of a single rotor -->
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<!-- Values from CAD program -->
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<xacro:if value="$(arg use_clover_physics)">
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<xacro:property name="rotor_inertia">
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<inertia
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ixx="${1.375 * 0.001 * 0.001 * rotor_velocity_slowdown_sim}"
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iyy="${2.153 * 0.001 * 0.001 * rotor_velocity_slowdown_sim}"
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izz="${1.375 * 0.001 * 0.001 * rotor_velocity_slowdown_sim}"
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ixy="0.0" ixz="0.0" iyz="0.0" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
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</xacro:property>
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</xacro:if>
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<!-- Values for a cuboid (cuboid. Height=3mm, width=15mm) -->
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<xacro:unless value="$(arg use_clover_physics)">
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<xacro:property name="rotor_inertia">
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<inertia
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ixx="${1/12 * mass_rotor * (0.015 * 0.015 + 0.003 * 0.003) * rotor_velocity_slowdown_sim}"
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iyy="${1/12 * mass_rotor * (4 * radius_rotor * radius_rotor + 0.003 * 0.003) * rotor_velocity_slowdown_sim}"
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izz="${1/12 * mass_rotor * (4 * radius_rotor * radius_rotor + 0.015 * 0.015) * rotor_velocity_slowdown_sim}"
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ixy="0.0" ixz="0.0" iyz="0.0" /> <!-- [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] [kg.m^2] -->
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</xacro:property>
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</xacro:unless>
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<!-- Included URDF Files -->
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<xacro:include filename="clover4_macros.xacro" />
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<!-- Instantiate multirotor_base_macro once -->
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<xacro:clover4_base_macro
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robot_namespace="${namespace}"
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mass="${mass}"
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body_width="${body_width}"
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body_height="${body_height}"
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>
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<xacro:insert_block name="body_inertia" />
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</xacro:clover4_base_macro>
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<!-- Instantiate rotors -->
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<xacro:vertical_clover_rotor
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robot_namespace="${namespace}"
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suffix="front_right"
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direction="ccw"
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motor_constant="${motor_constant}"
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moment_constant="${moment_constant}"
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parent="base_link"
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mass_rotor="${mass_rotor}"
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radius_rotor="${radius_rotor}"
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time_constant_up="${time_constant_up}"
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time_constant_down="${time_constant_down}"
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max_rot_velocity="${max_rot_velocity}"
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motor_number="0"
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rotor_drag_coefficient="${rotor_drag_coefficient}"
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rolling_moment_coefficient="${rolling_moment_coefficient}"
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mesh="clover4/prop_ccw.dae">
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<origin xyz="${arm_length_front_x} -${arm_length_front_y} ${rotor_offset_top}" rpy="0 0 0" />
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<xacro:insert_block name="rotor_inertia" />
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</xacro:vertical_clover_rotor>
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<xacro:vertical_clover_rotor
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robot_namespace="${namespace}"
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suffix="back_left"
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direction="ccw"
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motor_constant="${motor_constant}"
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moment_constant="${moment_constant}"
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parent="base_link"
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mass_rotor="${mass_rotor}"
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radius_rotor="${radius_rotor}"
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time_constant_up="${time_constant_up}"
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time_constant_down="${time_constant_down}"
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max_rot_velocity="${max_rot_velocity}"
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motor_number="1"
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rotor_drag_coefficient="${rotor_drag_coefficient}"
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rolling_moment_coefficient="${rolling_moment_coefficient}"
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mesh="clover4/prop_ccw.dae">
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<origin xyz="-${arm_length_back_x} ${arm_length_back_y} ${rotor_offset_top}" rpy="0 0 0" />
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<xacro:insert_block name="rotor_inertia" />
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</xacro:vertical_clover_rotor>
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<xacro:vertical_clover_rotor robot_namespace="${namespace}"
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suffix="front_left"
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direction="cw"
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motor_constant="${motor_constant}"
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moment_constant="${moment_constant}"
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parent="base_link"
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mass_rotor="${mass_rotor}"
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radius_rotor="${radius_rotor}"
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time_constant_up="${time_constant_up}"
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time_constant_down="${time_constant_down}"
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max_rot_velocity="${max_rot_velocity}"
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motor_number="2"
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rotor_drag_coefficient="${rotor_drag_coefficient}"
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rolling_moment_coefficient="${rolling_moment_coefficient}"
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mesh="clover4/prop_cw.dae">
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<origin xyz="${arm_length_front_x} ${arm_length_front_y} ${rotor_offset_top}" rpy="0 0 0" />
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<xacro:insert_block name="rotor_inertia" />
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</xacro:vertical_clover_rotor>
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<xacro:vertical_clover_rotor robot_namespace="${namespace}"
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suffix="back_right"
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direction="cw"
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motor_constant="${motor_constant}"
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moment_constant="${moment_constant}"
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parent="base_link"
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mass_rotor="${mass_rotor}"
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radius_rotor="${radius_rotor}"
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time_constant_up="${time_constant_up}"
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time_constant_down="${time_constant_down}"
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max_rot_velocity="${max_rot_velocity}"
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motor_number="3"
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rotor_drag_coefficient="${rotor_drag_coefficient}"
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rolling_moment_coefficient="${rolling_moment_coefficient}"
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mesh="clover4/prop_cw.dae">
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<origin xyz="-${arm_length_back_x} -${arm_length_back_y} ${rotor_offset_top}" rpy="0 0 0" />
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<xacro:insert_block name="rotor_inertia" />
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</xacro:vertical_clover_rotor>
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</robot>
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