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Merged
klaxalk merged 4 commits into from
Sep 20, 2023
Merged

Add alien drone #1

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742a03f
Modified scripts and configs for alien drone.
prochazo Sep 6, 2023
4a4fd39
Removed accidentally added dots.
prochazo Sep 6, 2023
56dbaf9
Modification for fluid resistace and modified motor model.
prochazo Sep 14, 2023
a2a5d1b
Modified fluid resistance macro for new computation of the drag.
prochazo Sep 14, 2023
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21 changes: 21 additions & 0 deletions ros_packages/mrs_uav_gazebo_simulation/ROMFS/px4fmu_common/init.d-posix/airframes/4001_a300
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@@ -0,0 +1,21 @@
#!/bin/sh
#
# @name DJI F330 SITL
#
# @type Quadcopter x
#
# @maintainer Petr Stibinger <stibipet@fel.cvut.cz>
#

. ${R}etc/init.d/rc.mc_defaults

param set-default MAV_TYPE 2

param set-default BAT1_N_CELLS 6
param set-default BAT1_CAPACITY 8000
param set-default BAT1_V_EMPTY 3.6
param set-default BAT1_V_CHARGED 4.2
param set-default BAT1_V_LOAD_DROP 0.4

set MIXER quad_x

6 changes: 3 additions & 3 deletions ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
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@@ -1,7 +1,7 @@
enable_rangefinder: [False, 'Add a laser rangefinder (Garmin) pointing down', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec]]
enable_rangefinder_up: [False, 'Add a laser rangefinder (Garmin) pointing up', [f450, f550, t650, naki]]
enable_teraranger: [False, 'Add a laser rangefinder (Teraranger) to the vehicle', [f450, f550, t650]]
enable_ground_truth: [False, 'Enable topic with ground truth odometry', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec]]
enable_ground_truth: [False, 'Enable topic with ground truth odometry', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec, a300]]
enable_mobius_camera_front: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the front', [f450, f550, t650]]
enable_mobius_camera_down: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the ground', [f450, f550]]
enable_mobius_camera_back_left: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back left', [f450, f550]]
Expand Down Expand Up @@ -53,5 +53,5 @@ enable_vio: [False, 'Add a forward-looking fisheye camera and a high frequency I
enable_vio_down: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', [f330, f450]]
enable_omni_ultrasounds: [False, 'Add omnidirectional ultrasonic sensors (up, down, 4 in horizontal plane)', [naki]]
enable_safety_led: [False, 'Add a safety LED', [naki]]
model_package: ["mrs_uav_gazebo_simulation", 'package name for the UAV models', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec]]
disable_motor_crash: [False, 'Disables motor failure after crash with the environment', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec]]
model_package: ["mrs_uav_gazebo_simulation", 'package name for the UAV models', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, a300]]
disable_motor_crash: [False, 'Disables motor failure after crash with the environment', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, a300]]
120 changes: 118 additions & 2 deletions .../mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
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Expand Up @@ -439,7 +439,7 @@ limitations under the License.
<enableMotorCrash>{{ enable_motor_crash }}</enableMotorCrash>
</plugin>

<plugin name="motor{{ motor_number }}_speed_republisher_plugin" filename="libMRSGazeboMotorSpeedRepublisherPlugin.so">
<plugin name="motor{{ motor_number }}_speed_republisher_plugin" filename="libMrsGazeboCommonResources_MotorSpeedRepublisherPlugin.so.so">
<robotNamespace/>
<motorSpeedTopic>/motor_speed/{{ motor_number }}</motorSpeedTopic>
</plugin>
Expand Down Expand Up @@ -539,7 +539,107 @@ limitations under the License.
<enableMotorCrash>{{ enable_motor_crash }}</enableMotorCrash>
</plugin>

<plugin name="motor{{ motor_number }}_speed_republisher_plugin" filename="libMRSGazeboMotorSpeedRepublisherPlugin.so">
<plugin name="motor{{ motor_number }}_speed_republisher_plugin" filename="libMrsGazeboCommonResources_MotorSpeedRepublisherPlugin.so">
<robotNamespace/>
<motorSpeedTopic>/motor_speed/{{ motor_number }}</motorSpeedTopic>
</plugin>

<joint name="prop_{{ motor_number }}_joint" type="revolute">
<parent>{{ parent }}</parent>
<child>prop_{{ motor_number }}_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
{%- endmacro -%}
<!--}-->

<!-- Prop macro with 2 meshes mrs motor model{-->
{%- macro prop_macro_2_meshes_mrs_motor_model(direction, rotor_velocity_slowdown_sim, motor_constant, moment_constant, parent, mass, radius, time_constant_up, time_constant_down, max_rot_velocity, motor_number, rotor_drag_coefficient, rolling_moment_coefficient, enable_motor_crash, color, mesh_file_1, mesh_file_2, meshes_z_offset, mesh_scale, x, y, z, roll, pitch, yaw, ixx, ixy, ixz, iyy, iyz, izz) -%}
<link name="prop_{{ motor_number }}_link">
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
<inertial>
<mass>{{ mass }}</mass>
<inertia>
<ixx>{{ ixx }}</ixx>
<ixy>{{ ixy }}</ixy>
<ixz>{{ ixz }}</ixz>
<iyy>{{ iyy }}</iyy>
<iyz>{{ iyz }}</iyz>
<izz>{{ izz }}</izz>
</inertia>
</inertial>
<visual name="visual_1">
<geometry>
<mesh>
<uri>{{ mesh_file_1 }}</uri>
<scale>{{ mesh_scale }}</scale>
</mesh>
</geometry>
</visual>
<visual name="visual_2">
<pose>{{ 0 }} {{ 0 }} {{ meshes_z_offset }} {{ 0 }} {{ 0 }} {{ 0 }}</pose>
<geometry>
<mesh>
<uri>{{ mesh_file_2 }}</uri>
<scale>{{ mesh_scale }}</scale>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/{{ color }}</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<collision name="prop_{{ motor_number }}_link_collision">
<pose>0 0 0 0 {{ rad90 }} 0</pose>
<geometry>
<cylinder>
<length>{{ 2*radius }}</length>
<radius>0.01</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</link>

<plugin name="motor{{ motor_number }}_plugin" filename="libMrsGazeboCommonResources_MotorPropModelPlugin.so">
<robotNamespace/>
<jointName>prop_{{ motor_number }}_joint</jointName>
<linkName>prop_{{ motor_number }}_link</linkName>
<turningDirection>{{ direction }}</turningDirection>
<timeConstantUp>{{ time_constant_up }}</timeConstantUp>
<timeConstantDown>{{ time_constant_down }}</timeConstantDown>
<maxRotVelocity>{{ max_rot_velocity }}</maxRotVelocity>
<motorConstant>{{ motor_constant }}</motorConstant>
<momentConstant>{{ moment_constant }}</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>{{ motor_number }}</motorNumber>
<rotorDragCoefficient>{{ rotor_drag_coefficient }}</rotorDragCoefficient>
<rollingMomentCoefficient>{{ rolling_moment_coefficient }}</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/{{ motor_number }}</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>{{ rotor_velocity_slowdown_sim }}</rotorVelocitySlowdownSim>
<enableMotorCrash>{{ enable_motor_crash }}</enableMotorCrash>
</plugin>

<plugin name="motor{{ motor_number }}_speed_republisher_plugin" filename="libMrsGazeboCommonResources_MotorSpeedRepublisherPlugin.so">
<robotNamespace/>
<motorSpeedTopic>/motor_speed/{{ motor_number }}</motorSpeedTopic>
</plugin>
Expand Down Expand Up @@ -610,6 +710,22 @@ limitations under the License.
<rotorVelocitySlowdownSim>{{ rotor_velocity_slowdown_sim }}</rotorVelocitySlowdownSim>
</plugin>
{%- endmacro -%}
<!--}-->

<!-- Fluid resistance macro {-->
{%- macro fluid_resistance_plugin_macro(verbose, model_mass, parent_link, update_rate, uav_body_resistance_x, uav_body_resistance_y, uav_body_resistance_z) -%}
<plugin name="fluid_resistance_plugin" filename="libMrsGazeboCommonResources_FluidResistancePlugin.so">
<robotNamespace/>
<model_mass>{{ model_mass }}</model_mass>
<FluidResistanceTopicName>/fluid_resistance</FluidResistanceTopicName>
<NameLinkToApplyResistance>{{ parent_link }}</NameLinkToApplyResistance>
<rate>{{ update_rate }}</rate>
<res_x>{{ uav_body_resistance_x }}</res_x>
<res_y>{{ uav_body_resistance_y }}</res_y>
<res_z>{{ uav_body_resistance_z }}</res_z>
<verbose>{{ verbose }}</verbose>
</plugin>
{%- endmacro -%}
<!--}-->

<!-- ================================================================== -->
Expand Down
2 changes: 1 addition & 1 deletion ros_packages/mrs_uav_gazebo_simulation/scripts/mrs_drone_spawner.py
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Expand Up @@ -26,7 +26,7 @@
MAVLINK_UDP_BASE_PORT = 14560
LAUNCH_BASE_PORT = 14900
DEFAULT_VEHICLE_TYPE = 't650'
VEHICLE_TYPES = ['f450', 'f550', 't650', 'x500', 'eaglemk2', 'f330', 'brus', 'naki', 'big_dofec']
VEHICLE_TYPES = ['a300', 'f450', 'f550', 't650', 'x500', 'eaglemk2', 'f330', 'brus', 'naki', 'big_dofec']
SPAWNING_DELAY_SECONDS = 6

class MrsDroneSpawner():
Expand Down