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Code Issues Actions 14 Packages Projects Releases Wiki Activity

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_WHEEL_TRACK 0.6
param set-default RD_TRANS_DRV_TRN 0.785398 param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.174533 param set-default RD_TRANS_TRN_DRV 0.174533
param set-default RD_YAW_STK_GAIN 0.6
# Rate Control Parameters # Rate Control Parameters
param set-default RO_YAW_RATE_I 0.01 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_ACCEL_LIM 400
param set-default RO_YAW_DECEL_LIM 800 param set-default RO_YAW_DECEL_LIM 800
param set-default RO_YAW_RATE_CORR 1 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 # Attitude Control Parameters
param set-default RO_YAW_P 5 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 #!/bin/sh
# @name Rover Ackermann # @name Generic Ackermann Rover
# @type Rover # @type Rover
# @class Rover # @class Rover
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5 param set-default NAV_ACC_RAD 0.5
# Ackermann Parameters # 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_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_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 360 param set-default RA_STR_RATE_LIM 360
# Rover Control Parameters # Rate Control Parameters
param set-default RO_ACCEL_LIM 3 param set-default RO_YAW_RATE_I 0.01
param set-default RO_DECEL_LIM 6 param set-default RO_YAW_RATE_P 0.25
param set-default RO_JERK_LIM 15 param set-default RO_YAW_RATE_LIM 130
param set-default RO_MAX_THR_SPEED 3.1 param set-default RO_YAW_ACCEL_LIM 800
param set-default RO_YAW_DECEL_LIM 800
# 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
param set-default RO_YAW_RATE_CORR 1 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 param set-default RO_YAW_P 3
# Rover Velocity Control Parameters # Velocity Control Parameters
param set-default RO_SPEED_LIM 3 param set-default RO_ACCEL_LIM 4
param set-default RO_SPEED_I 0.1 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_P 1
param set-default RO_SPEED_RED 1 param set-default RO_SPEED_RED 1
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
# Wheels # Wheels
param set-default SIM_GZ_WH_FUNC1 101 param set-default SIM_GZ_WH_FUNC1 101
param set-default SIM_GZ_WH_MIN1 0 param set-default SIM_GZ_WH_MIN1 70
param set-default SIM_GZ_WH_MAX1 200 param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100 param set-default SIM_GZ_WH_DIS1 100
# Steering # 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 #!/bin/sh
# @name Aion Robotics R1 Rover # @name Generic Mecanum Rover
# @type Rover # @type Rover
# @class Rover # @class Rover
@@ -7,14 +7,15 @@
PX4_SIMULATOR=${PX4_SIMULATOR:=gz} PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover} PX4_GZ_WORLD=${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 SIM_GZ_EN 1 # Gazebo bridge
param set-default NAV_ACC_RAD 0.5 param set-default NAV_ACC_RAD 0.5
# Mecanum Parameters # 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 # Rover Control Parameters
param set-default RO_ACCEL_LIM 3 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_ACCEL_LIM 240
param set-default RO_YAW_DECEL_LIM 1000 param set-default RO_YAW_DECEL_LIM 1000
param set-default RO_YAW_RATE_CORR 1.75 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 # Rover Attitude Control Parameters
param set-default RO_YAW_P 5 param set-default RO_YAW_P 5
# Rover Velocity Control Parameters # Velocity Control Parameters
param set-default RO_SPEED_LIM 2 param set-default RO_ACCEL_LIM 4
param set-default RO_SPEED_I 0.5 param set-default RO_DECEL_LIM 6
param set-default RO_SPEED_P 1 param set-default RO_JERK_LIM 10
param set-default RO_SPEED_RED 1 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 # Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 0.5 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 param set-default SENS_EN_MAGSIM 1
# Actuator mapping # 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_MIN1 70
param set-default SIM_GZ_WH_MAX1 130 param set-default SIM_GZ_WH_MAX1 130
param set-default SIM_GZ_WH_DIS1 100 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_MIN2 70
param set-default SIM_GZ_WH_MAX2 130 param set-default SIM_GZ_WH_MAX2 130
param set-default SIM_GZ_WH_DIS2 100 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_MIN3 70
param set-default SIM_GZ_WH_MAX3 130 param set-default SIM_GZ_WH_MAX3 130
param set-default SIM_GZ_WH_DIS3 100 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_MIN4 70
param set-default SIM_GZ_WH_MAX4 130 param set-default SIM_GZ_WH_MAX4 130
param set-default SIM_GZ_WH_DIS4 100 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 4009_gz_r1_rover
4010_gz_x500_mono_cam 4010_gz_x500_mono_cam
4011_gz_lawnmower 4011_gz_lawnmower
4012_gz_rover_ackermann
4013_gz_x500_lidar_2d 4013_gz_x500_lidar_2d
4014_gz_x500_mono_cam_down 4014_gz_x500_mono_cam_down
4015_gz_r1_rover_mecanum
4016_gz_x500_lidar_down 4016_gz_x500_lidar_down
4017_gz_x500_lidar_front 4017_gz_x500_lidar_front
4018_gz_quadtailsitter 4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
17002_flightgear_tf-g2 17002_flightgear_tf-g2
50000_gz_rover_differential 50000_gz_rover_differential
51000_gz_rover_ackermann
52000_gz_rover_mecanum
60002_gz_uuv_bluerov2_heavy 60002_gz_uuv_bluerov2_heavy
Tools/simulation/gz
+1 -1
Submodule Tools/simulation/gz updated: 6cfb3e362e...b6127f4ec2
docs/assets/airframes/rover/rover_simulation.png
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docs/en/frames_rover/index.md
+2 -1
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@@ -64,9 +64,10 @@ Each wheel is driven by its own motor, and by controlling the speed and directio
## Simulation ## Simulation
[Gazebo](../sim_gazebo_gz/index.md) provides simulations for ackermann and differential rovers: PX4 provides synthetic simulation models for [Gazebo](../sim_gazebo_gz/index.md) of all three rover types to test the software and validate changes and new features:
- [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) - [Ackermann rover](../sim_gazebo_gz/vehicles.md#ackermann-rover)
- [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover) - [Differential rover](../sim_gazebo_gz/vehicles.md#differential-rover)
- [Mecanum rover](../sim_gazebo_gz/vehicles.md#mecanum-rover)
![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png) ![Rover gazebo simulation](../../assets/airframes/rover/rover_simulation.png)
docs/en/releases/main.md
+5 -1
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@@ -58,7 +58,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Simulation ### Simulation
- TBD - Overhaul rover simulation:
- Add synthetic differential rover model: [PX4-gazebo-models#107](https://github.com/PX4/PX4-gazebo-models/pull/107)
- Add synthetic mecanum rover model: [PX4-gazebo-models#113](https://github.com/PX4/PX4-gazebo-models/pull/113)
- Update synthetic ackermann rover model: [PX4-gazebo-models#117](https://github.com/PX4/PX4-gazebo-models/pull/117)
### Ethernet ### Ethernet
@@ -91,6 +94,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)). - Removed deprecated rover module ([PX4-Autopilot#25054](https://github.com/PX4/PX4-Autopilot/pull/25054)).
- Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)). - Add support for [Apps & API](../flight_modes_rover/api.md) ([PX4-Autopilot#25074](https://github.com/PX4/PX4-Autopilot/pull/25074), [PX4-ROS2-Interface-Lib#140](https://github.com/Auterion/px4-ros2-interface-lib/pull/140)).
- Update [rover simulation](../frames_rover/index.md#simulation) ([PX4-Autopilot#25644](https://github.com/PX4/PX4-Autopilot/pull/25644)) (see [Simulation](#simulation) release note for details).
### ROS 2 ### ROS 2
docs/en/sim_gazebo_gz/index.md
+28 -26
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@@ -50,22 +50,24 @@ This runs both the PX4 SITL instance and the Gazebo client.
The supported vehicles and `make` commands are listed below. The supported vehicles and `make` commands are listed below.
Note that all gazebo make targets have the prefix `gz_`. Note that all gazebo make targets have the prefix `gz_`.
| Vehicle | Command | `PX4_SYS_AUTOSTART` | | Vehicle | Command | `PX4_SYS_AUTOSTART` |
| ----------------------------------------------------------------------------------------------------------------------------- | ----------------------------------- | ------------------- | | ----------------------------------------------------------------------------------------------------------------------------- | ------------------------------------- | ------------------- |
| [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 | | [Quadrotor (x500)](../sim_gazebo_gz/vehicles.md#x500-quadrotor) | `make px4_sitl gz_x500` | 4001 |
| [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 | | [X500 Quadrotor with Depth Camera (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-depth-camera-front-facing) | `make px4_sitl gz_x500_depth` | 4002 |
| [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 | | [Quadrotor(x500) with Vision Odometry](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-visual-odometry) | `make px4_sitl gz_x500_vision` | 4005 |
| [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 | | [Quadrotor(x500) with 1D LIDAR (Down-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-down-facing) | `make px4_sitl gz_x500_lidar_down` | 4016 |
| [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 | | [Quadrotor(x500) with 2D LIDAR](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-2d-lidar) | `make px4_sitl gz_x500_lidar_2d` | 4013 |
| [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 | | [Quadrotor(x500) with 1D LIDAR (Front-facing)](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-1d-lidar-front-facing) | `make px4_sitl gz_x500_lidar_front` | 4017 |
| [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 | | [Quadrotor(x500) with gimbal (Front-facing) in Gazebo](../sim_gazebo_gz/vehicles.md#x500-quadrotor-with-gimbal-front-facing) | `make px4_sitl gz_x500_gimbal` | 4019 |
| [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 | | [VTOL](../sim_gazebo_gz/vehicles.md#standard-vtol) | `make px4_sitl gz_standard_vtol` | 4004 |
| [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 | | [Plane](../sim_gazebo_gz/vehicles.md#standard-plane) | `make px4_sitl gz_rc_cessna` | 4003 |
| [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 | | [Advanced Plane](../sim_gazebo_gz/vehicles.md#advanced-plane) | `make px4_sitl gz_advanced_plane` | 4008 |
| [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_r1_rover` | 4009 | | [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 |
| [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 4012 | | [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 |
| [Quad Tailsitter VTOL](../sim_gazebo_gz/vehicles.md#quad-tailsitter-vtol) | `make px4_sitl gz_quadtailsitter` | 4018 | | [Differential Rover](../sim_gazebo_gz/vehicles.md#differential-rover) | `make px4_sitl gz_rover_differential` | 50000 |
| [Tiltrotor VTOL](../sim_gazebo_gz/vehicles.md#tiltrotor-vtol) | `make px4_sitl gz_tiltrotor` | 4020 | | [Ackermann Rover](../sim_gazebo_gz/vehicles.md#ackermann-rover) | `make px4_sitl gz_rover_ackermann` | 51000 |
| [Mecanum Rover](../sim_gazebo_gz/vehicles.md#mecanum-rover) | `make px4_sitl gz_rover_mecanum` | 52000 |
All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository. All [vehicle models](../sim_gazebo_gz/vehicles.md) (and [worlds](#specify-world)) are included as a submodule from the [Gazebo Models Repository](../sim_gazebo_gz/gazebo_models.md) repository.
@@ -164,16 +166,16 @@ PX4_GZ_WORLD=windy make px4_sitl gz_x500
The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below. The [supported worlds](../sim_gazebo_gz/worlds.md) are listed below.
| World | Command | Description | | World | Command | Description |
| ----------------- | ---------------------------------- | ----------------------------------------------------------- | | ----------------- | --------------------------------- | ----------------------------------------------------------- |
| `default` | `make px4_sitl *` | Empty world (a grey plane) | | `default` | `make px4_sitl *` | Empty world (a grey plane) |
| `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing | | `aruco` | `make px4_sitl *_aruco` | Empty world with aruco marker for testing precision landing |
| `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water | | `baylands` | `make px4_sitl *_baylands` | Baylands world surrounded by water |
| `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers | | `lawn` | `make px4_sitl *_lawn` | Lawn world for testing rovers |
| `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) | | `rover` | `make px4_sitl *_rover` | Rover world (optimised/preferred) |
| `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention | | `walls` | `make px4_sitl *_walls` | Wall world for testing collision prevention |
| `windy` | `make px4_sitl *_windy` | Empty world with wind enabled | | `windy` | `make px4_sitl *_windy` | Empty world with wind enabled |
| `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform | | `moving_platform` | `make px4_sitl *_moving_platform` | World with moving takeoff / landing platform |
:::warning :::warning
Note that if no world is specified, PX4 will use the `default` world. Note that if no world is specified, PX4 will use the `default` world.
docs/en/sim_gazebo_gz/vehicles.md
+11 -1
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@@ -185,7 +185,7 @@ make px4_sitl gz_tiltrotor
[Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default. [Differential Rover](../frames_rover/index.md#differential) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh ```sh
make px4_sitl gz_r1_rover make px4_sitl gz_rover_differential
``` ```
![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png) ![Differential Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_differential.png)
@@ -199,3 +199,13 @@ make px4_sitl gz_rover_ackermann
``` ```
![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png) ![Ackermann Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_ackermann.png)
### Mecanum Rover
[Mecanum Rover](../frames_rover/index.md#mecanum) uses the [rover world](../sim_gazebo_gz/worlds.md#rover) by default.
```sh
make px4_sitl gz_rover_mecanum
```
![Mecanum Rover in Gazebo](../../assets/simulation/gazebo/vehicles/rover_mecanum.png)