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Rover: Simulation Update (#25644)

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* gz: update submodule

* rover: update simulation airframes

* docs: rover simulation
This commit is contained in:
chfriedrich98
2025-10-01 09:04:07 +02:00
committed by GitHub
parent 5dab3dd3d2
commit a6bf5a9066
13 changed files with 93 additions and 64 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
+3
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@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
param set-default RD_WHEEL_TRACK 0.6
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_YAW_STK_GAIN 0.6
# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 400
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Attitude Control Parameters
param set-default RO_YAW_P 5
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann → ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
+21 -19
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@@ -1,5 +1,5 @@
#!/bin/sh
# @name Rover Ackermann
# @name Generic Ackermann Rover
# @type Rover
# @class Rover
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_WHEEL_BASE 0.5
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_ACC_RAD_MAX 1.5
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 15
param set-default RO_MAX_THR_SPEED 3.1
# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 1
param set-default RO_YAW_RATE_LIM 180
# Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01
param set-default RO_YAW_RATE_P 0.25
param set-default RO_YAW_RATE_LIM 130
param set-default RO_YAW_ACCEL_LIM 800
param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Rover Attitude Control Parameters
# Attitude Control Parameters
param set-default RO_YAW_P 3
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 3
param set-default RO_SPEED_I 0.1
# Velocity Control Parameters
param set-default RO_ACCEL_LIM 4
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
# Wheels
param set-default SIM_GZ_WH_FUNC1 101
param set-default SIM_GZ_WH_MIN1 0
param set-default SIM_GZ_WH_MAX1 200
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
# Steering
ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum → ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
+20 -13
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@@ -1,5 +1,5 @@
#!/bin/sh
# @name Aion Robotics R1 Rover
# @name Generic Mecanum Rover
# @type Rover
# @class Rover
@@ -7,14 +7,15 @@
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5
# Mecanum Parameters
param set-default RM_WHEEL_TRACK 0.3
param set-default RM_WHEEL_TRACK 0.6
param set-default RM_YAW_STK_GAIN 0.6
# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
param set-default RO_YAW_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.75
param set-default RO_YAW_EXPO 0.85
param set-default RO_YAW_SUPEXPO 0.3
# Rover Attitude Control Parameters
param set-default RO_YAW_P 5
# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 2
param set-default RO_SPEED_I 0.5
param set-default RO_SPEED_P 1
param set-default RO_SPEED_RED 1
# Velocity Control Parameters
param set-default RO_ACCEL_LIM 4
param set-default RO_DECEL_LIM 6
param set-default RO_JERK_LIM 10
param set-default RO_MAX_THR_SPEED 3.1
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 0.5
# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
param set-default SENS_EN_MAGSIM 1
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100
param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
param set-default SIM_GZ_WH_MIN2 70
param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100
param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
param set-default SIM_GZ_WH_MIN3 70
param set-default SIM_GZ_WH_MAX3 130
param set-default SIM_GZ_WH_DIS3 100
param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
param set-default SIM_GZ_WH_MIN4 70
param set-default SIM_GZ_WH_MAX4 130
param set-default SIM_GZ_WH_DIS4 100
param set-default SIM_GZ_WH_REV 10
param set-default SIM_GZ_WH_REV 0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+2 -2
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@@ -80,10 +80,8 @@ px4_add_romfs_files(
4009_gz_r1_rover
4010_gz_x500_mono_cam
4011_gz_lawnmower
4012_gz_rover_ackermann
4013_gz_x500_lidar_2d
4014_gz_x500_mono_cam_down
4015_gz_r1_rover_mecanum
4016_gz_x500_lidar_down
4017_gz_x500_lidar_front
4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
17002_flightgear_tf-g2
50000_gz_rover_differential
51000_gz_rover_ackermann
52000_gz_rover_mecanum
60002_gz_uuv_bluerov2_heavy