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Add x500 ignition (replaces x3)

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This commit is contained in:
Benjamin Perseghetti
2022-08-23 18:54:23 -04:00
committed by Daniel Agar
parent 4040e4cdf2
commit 0e8e38e698
20 changed files with 2151 additions and 10758 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4001_x3 → ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
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@@ -8,7 +8,7 @@
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x3}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1 -1
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@@ -73,7 +73,7 @@ px4_add_romfs_files(
3010_quadrotor_x
3011_hexarotor_x
4001_x3
4001_x500
17001_tf-g1
17002_tf-g2
Tools/simulation/ignition/models/x3/meshes/propeller_ccw.dae
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Tools/simulation/ignition/models/x3/meshes/propeller_cw.dae
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Tools/simulation/ignition/models/x3/meshes/x3.dae
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Tools/simulation/ignition/models/x3/meshes/x3.jpg
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Tools/simulation/ignition/models/x3/model.config
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<?xml version="1.0"?>
<model>
<name>x3</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Carlos Aguero</name>
<email>caguero@openrobotics.org</email>
</author>
<author>
<name>Cole Biesemeyer</name>
<email>cole@openrobotics.org</email>
</author>
<description>
</description>
</model>
Tools/simulation/ignition/models/x3/model.sdf
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@@ -1,371 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.6">
<model name="x3">
<pose>0 0 0.053302 0 0 0</pose>
<link name="base_link">
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.0347563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.07</iyy>
<iyz>0</iyz>
<izz>0.0977</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
</collision>
<visual name="base_link_inertia_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/x3.dae</uri>
</mesh>
</geometry>
</visual>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
</link>
<link name="rotor_0">
<pose frame="">0.13 -0.22 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_0_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_0_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_0_joint" type="revolute">
<child>rotor_0</child>
<parent>base_link</parent>
<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>
<link name="rotor_1">
<pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_1_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_1_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_1_joint" type="revolute">
<child>rotor_1</child>
<parent>base_link</parent>
<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>
<link name="rotor_2">
<pose frame="">0.13 0.22 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_2_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_2_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_2_joint" type="revolute">
<child>rotor_2</child>
<parent>base_link</parent>
<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>
<link name="rotor_3">
<pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>4.17041e-05</iyy>
<iyz>0</iyz>
<izz>4.26041e-05</izz>
</inertia>
</inertial>
<collision name="rotor_3_collision">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode />
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<visual name="rotor_3_visual">
<pose frame="">0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.1 0.1 0.1</scale>
<uri>meshes/propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay />
</link>
<joint name="rotor_3_joint" type="revolute">
<child>rotor_3</child>
<parent>base_link</parent>
<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>
<plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x3</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x3</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x3</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>x3</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
</model>
</sdf>
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Tools/simulation/ignition/models/x500/meshes/5010Bell.dae
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Tools/simulation/ignition/models/x500/meshes/NXP-HGD-CF.dae
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Tools/simulation/ignition/models/x500/model.config
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<?xml version="1.0"?>
<model>
<name>x500</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Benjamin Perseghetti</name>
<email>bperseghetti@rudislabs.com</email>
</author>
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
</model>
Tools/simulation/ignition/models/x500/model.sdf
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Tools/simulation/ignition/worlds/default.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.9">
<world name="default">
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
</world>
<sdf version='1.9'>
<world name='default'>
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>
<gui fullscreen='false'>
<plugin name='3D View' filename='GzScene3D'>
<ignition-gui>
<title>3D View</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='string' key='state'>docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
<background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<plugin name='World control' filename='WorldControl'>
<ignition-gui>
<title>World control</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>72</property>
<property type='double' key='width'>121</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='left' target='left'/>
<line own='bottom' target='bottom'/>
</anchors>
</ignition-gui>
<play_pause>1</play_pause>
<step>1</step>
<start_paused>1</start_paused>
</plugin>
<plugin name='World stats' filename='WorldStats'>
<ignition-gui>
<title>World stats</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='bool' key='resizable'>0</property>
<property type='double' key='height'>110</property>
<property type='double' key='width'>290</property>
<property type='double' key='z'>1</property>
<property type='string' key='state'>floating</property>
<anchors target='3D View'>
<line own='right' target='right'/>
<line own='bottom' target='bottom'/>
</anchors>
</ignition-gui>
<sim_time>1</sim_time>
<real_time>1</real_time>
<real_time_factor>1</real_time_factor>
<iterations>1</iterations>
</plugin>
<plugin name='Entity tree' filename='EntityTree'/>
</gui>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name='ground_plane'>
<static>true</static>
<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1 1</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<light name='sunUTC' type='directional'>
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
</world>
</sdf>