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new Gazebo simulation handle older gz versions (#20342)

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This commit is contained in:
Benjamin Perseghetti
2022-10-02 21:30:30 -04:00
committed by GitHub
parent f4d2e176ae
commit aa2b47845a
25 changed files with 2102 additions and 1 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+14
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@@ -41,6 +41,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
fi
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
echo "INFO [init] using latest version of MultiCopterMotor plugin."
else
echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
if [ "$PX4_SIM_MODEL" = "x500" ]; then
PX4_SIM_MODEL="x500-Legacy"
echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
fi
fi
if [ -z $gz_world ]; then
Tools/simulation/gz/models/x500-Legacy/model.config
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<model>
<name>x500-Legacy</name>
<version>1.0</version>
<sdf version="1.9">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/gz/models/x500-Legacy/model.sdf
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@@ -0,0 +1,76 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name='x500-Legacy'>
<include merge='true'>
<uri>model://x500-NoPlugin</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>/x500-Legacy_0</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>/x500-Legacy_0</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>/x500-Legacy_0</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>/x500-Legacy_0</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/gz/models/x500-NoPlugin/model.config
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<?xml version="1.0"?>
<model>
<name>x500-NoPlugin</name>
<version>1.0</version>
<sdf version="1.9">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>
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Tools/simulation/gz/models/x500/model.sdf
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@@ -2,7 +2,71 @@
<sdf version='1.9'>
<model name='x500'>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
<uri>model://x500-NoPlugin</uri>
</include>
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
<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">
<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">
<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">
<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>