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Simulation Gazebo: Use Gazebo Airpressure sensor (#21176)

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* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
2023-02-22 19:32:25 +01:00
committed by GitHub
parent 06dfd1726f
commit ea6814d258
10 changed files with 90 additions and 14 deletions
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Tools/simulation/gz/models/rc_cessna/model.sdf
+12
View File
@@ -84,6 +84,18 @@
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
<sensor name="air_pressure_sensor" type="air_pressure">
<always_on>1</always_on>
<update_rate>50</update_rate>
<air_pressure>
<pressure>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</pressure>
</air_pressure>
</sensor>
</link>
<link name="airspeed">
<pose>0 0 0 0 0 0</pose>
Tools/simulation/gz/models/standard_vtol/model.sdf
+12
View File
@@ -134,6 +134,18 @@
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
<sensor name="air_pressure_sensor" type="air_pressure">
<always_on>1</always_on>
<update_rate>50</update_rate>
<air_pressure>
<pressure>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</pressure>
</air_pressure>
</sensor>
</link>
<link name='rotor_0'>
<pose>0.35 -0.35 0.07 0 0 0</pose>
Tools/simulation/gz/models/x500/model.sdf
+12
View File
@@ -215,6 +215,18 @@
</friction>
</surface>
</collision>
<sensor name="air_pressure_sensor" type="air_pressure">
<always_on>1</always_on>
<update_rate>50</update_rate>
<air_pressure>
<pressure>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</pressure>
</air_pressure>
</sensor>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
Tools/simulation/gz/worlds/default.sdf
+1
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@@ -10,6 +10,7 @@
<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::Imu' filename='ignition-gazebo-imu-system'/>
<plugin name='ignition::gazebo::systems::AirPressure' filename='ignition-gazebo-air-pressure-system'/>
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
<render_engine>ogre2</render_engine>
</plugin>