mirror of
https://github.com/PX4/PX4-Autopilot.git
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Multi-Vehicle Ignition Gazebo Simulation (#20154)
This commit is contained in:
Benjamin Perseghetti
committed by
GitHub
GitHub
parent
7bbdc220f5
commit
a56f654651
@@ -1,80 +0,0 @@
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#!/bin/sh
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#
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# @name Ignition Gazebo X4
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
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PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
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param set-default SYS_CTRL_ALLOC 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 6
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param set-default CA_ROTOR0_PX 0.25
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param set-default CA_ROTOR0_PY -0.15
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX 0.00
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param set-default CA_ROTOR1_PY -0.29
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param set-default CA_ROTOR1_KM -0.05
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param set-default CA_ROTOR2_PX -0.25
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param set-default CA_ROTOR2_PY -0.15
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param set-default CA_ROTOR2_KM 0.05
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param set-default CA_ROTOR3_PX -0.25
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param set-default CA_ROTOR3_PY 0.15
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_ROTOR4_PX 0.00
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param set-default CA_ROTOR4_PY 0.29
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param set-default CA_ROTOR4_KM 0.05
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param set-default CA_ROTOR5_PX 0.25
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param set-default CA_ROTOR5_PY 0.15
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param set-default CA_ROTOR5_KM -0.05
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param set-default SIM_IGN_FUNC1 101
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param set-default SIM_IGN_FUNC2 102
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param set-default SIM_IGN_FUNC3 103
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param set-default SIM_IGN_FUNC4 104
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param set-default SIM_IGN_FUNC5 105
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param set-default SIM_IGN_FUNC6 106
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param set-default SIM_IGN_MIN1 150
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param set-default SIM_IGN_MIN2 150
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param set-default SIM_IGN_MIN3 150
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param set-default SIM_IGN_MIN4 150
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param set-default SIM_IGN_MIN5 150
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param set-default SIM_IGN_MIN6 150
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param set-default SIM_IGN_MAX1 1000
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param set-default SIM_IGN_MAX2 1000
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param set-default SIM_IGN_MAX3 1000
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param set-default SIM_IGN_MAX4 1000
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param set-default SIM_IGN_MAX5 1000
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param set-default SIM_IGN_MAX6 1000
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param set-default MC_PITCHRATE_D 0.0016
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param set-default MC_PITCHRATE_I 0.2500
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param set-default MC_PITCHRATE_P 0.1831
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param set-default MC_PITCH_P 5.216
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param set-default MC_ROLLRATE_D 0.0022
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param set-default MC_ROLLRATE_I 0.2095
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param set-default MC_ROLLRATE_P 0.1570
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param set-default MC_ROLL_P 6.081
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param set-default MC_YAWRATE_D 0.0009
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param set-default MC_YAWRATE_I 0.1800
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param set-default MC_YAWRATE_P 0.1773
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param set-default MC_YAW_P 5.386490
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param set-default MPC_THR_HOVER 0.61
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@@ -79,7 +79,6 @@ px4_add_romfs_files(
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17002_tf-g2
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2507_cloudship
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6001_x4
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6011_typhoon_h480
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6011_typhoon_h480.post
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)
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@@ -20,7 +20,10 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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. ../gazebo_env.sh
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fi
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if ! ign service --info --service /world/${PX4_SIM_WORLD}/create | grep "ignition.msgs.EntityFactory"; then
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ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
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if [ -z $ign_world ]; then
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# starting ign gazebo with ${PX4_SIM_WORLD} world
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echo "INFO [init] starting ign gazebo"
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@@ -31,16 +34,37 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
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ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
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fi
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else
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echo "INFO [init] ign gazebo already running"
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echo "INFO [init] ign gazebo already running world: $ign_world"
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PX4_SIM_WORLD=$ign_world
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fi
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if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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if [ -z $PX4_IGN_MODEL_POSE ]; then
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# start ignition bridge without pose arg.
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echo "WARN [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
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if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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# Clean potential input line formatting.
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model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
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echo "INFO [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
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# start ignition bridge with pose arg.
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if simulator_ignition_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
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sensor_baro_sim start
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sensor_gps_sim start
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sensor_mag_sim start
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else
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echo "ERROR [init] ign gazebo failed to start"
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exit 1
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fi
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fi
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else
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@@ -1,66 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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<asset>
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<contributor>
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<author>VCGLab</author>
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<authoring_tool>VCGLib | MeshLab</authoring_tool>
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</contributor>
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<created>Wed Aug 22 18:54:08 2018 GMT</created>
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<modified>Wed Aug 22 18:54:08 2018 GMT</modified>
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<up_axis>Y_UP</up_axis>
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</asset>
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<library_geometries>
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<geometry id="shape0-lib" name="shape0">
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<mesh>
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<source id="shape0-lib-positions" name="position">
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<technique_common>
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<accessor count="49" source="#shape0-lib-positions-array" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="shape0-lib-normals" name="normal">
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<technique_common>
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<accessor count="60" source="#shape0-lib-normals-array" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="shape0-lib-map" name="map">
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<technique_common>
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<accessor count="180" source="#shape0-lib-map-array" stride="2">
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<param name="U" type="float"/>
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||||
<param name="V" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="shape0-lib-vertices">
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<input semantic="POSITION" source="#shape0-lib-positions"/>
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</vertices>
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||||
<triangles count="60">
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||||
<input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
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<input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
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<input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
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</triangles>
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||||
</mesh>
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</geometry>
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||||
</library_geometries>
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||||
<library_visual_scenes>
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<visual_scene id="VisualSceneNode" name="VisualScene">
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||||
<node id="node" name="node">
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||||
<instance_geometry url="#shape0-lib"/>
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||||
</node>
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||||
</visual_scene>
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||||
</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#VisualSceneNode"/>
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</scene>
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</COLLADA>
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<?xml version="1.0"?>
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<model>
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<name>x4</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Luis Pinto</name>
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<email>luis.pinto@mov.ai</email>
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</author>
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<description>
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X4 UAV with sensor configuration #1: IMU, pressure sensor, magnetometer + GPS , RGBD
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</description>
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</model>
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||||
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@@ -0,0 +1,11 @@
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||||
<?xml version="1.0"?>
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<model>
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<name>x500-Base</name>
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<version>1.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Benjamin Perseghetti</name>
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<email>bperseghetti@rudislabs.com</email>
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</author>
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<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>
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</model>
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||||
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@@ -0,0 +1,11 @@
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||||
<?xml version="1.0"?>
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||||
<model>
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<name>x500-Depth</name>
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<version>1.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Benjamin Perseghetti</name>
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<email>bperseghetti@rudislabs.com</email>
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</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>
|
||||
@@ -0,0 +1,85 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Depth'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-Base</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>model/x500-Depth</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>model/x500-Depth</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>model/x500-Depth</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>model/x500-Depth</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>
|
||||
<include merge='true'>
|
||||
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
|
||||
<pose>.12 .03 .242 0 0 0</pose>
|
||||
</include>
|
||||
<joint name="CameraJoint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>OakD-Lite/base_link</child>
|
||||
<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
||||
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|
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|
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@@ -2,7 +2,7 @@
|
||||
<model>
|
||||
<name>x500</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user