Gazebo Simulation Enablement (#20319)
Benjamin Perseghetti
GitHub
@@ -16,6 +16,7 @@ set -e
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INSTALL_NUTTX="true"
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INSTALL_SIM="true"
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INSTALL_ARCH=`uname -m`
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INSTALL_SIM_JAMMY="false"
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# Parse arguments
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for arg in "$@"
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@@ -28,6 +29,10 @@ do
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INSTALL_SIM="false"
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fi
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if [[ $arg == "--sim_jammy" ]]; then
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INSTALL_SIM_JAMMY="true"
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fi
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done
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# detect if running in docker
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@@ -67,6 +72,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
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echo "Ubuntu 18.04"
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elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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echo "Ubuntu 20.04"
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elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
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echo "Ubuntu 22.04, simulation build off by default."
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echo "Use --sim_jammy to enable simulation build."
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INSTALL_SIM=$INSTALL_SIM_JAMMY
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fi
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@@ -146,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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util-linux \
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vim-common \
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;
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if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
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if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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kconfig-frontends \
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;
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@@ -0,0 +1,17 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500-Depth'>
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<include merge='true'>
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<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
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</include>
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<include merge='true'>
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<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
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<pose>.12 .03 .242 0 0 0</pose>
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</include>
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<joint name="CameraJoint" type="fixed">
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<parent>base_link</parent>
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<child>OakD-Lite/base_link</child>
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<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
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</joint>
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</model>
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</sdf>
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Before Width: | Height: | Size: 32 KiB After Width: | Height: | Size: 32 KiB |
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Before Width: | Height: | Size: 50 KiB After Width: | Height: | Size: 50 KiB |
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Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 27 KiB |
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Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 27 KiB |
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Before Width: | Height: | Size: 23 KiB After Width: | Height: | Size: 23 KiB |
@@ -0,0 +1,8 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500'>
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<include merge='true'>
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<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
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</include>
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</model>
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</sdf>
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Before Width: | Height: | Size: 32 KiB After Width: | Height: | Size: 32 KiB |
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Before Width: | Height: | Size: 51 KiB After Width: | Height: | Size: 51 KiB |
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Before Width: | Height: | Size: 28 KiB After Width: | Height: | Size: 28 KiB |
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Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 27 KiB |
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Before Width: | Height: | Size: 23 KiB After Width: | Height: | Size: 23 KiB |
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Before Width: | Height: | Size: 1.5 MiB |
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Before Width: | Height: | Size: 25 KiB |
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Before Width: | Height: | Size: 26 KiB |
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Before Width: | Height: | Size: 1.5 MiB |
@@ -1,11 +0,0 @@
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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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@@ -1,85 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500-Depth'>
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<include merge='true'>
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<uri>model://x500-Base</uri>
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</include>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500-Depth</robotNamespace>
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500-Depth</robotNamespace>
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500-Depth</robotNamespace>
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500-Depth</robotNamespace>
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<include merge='true'>
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<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
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<pose>.12 .03 .242 0 0 0</pose>
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</include>
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<joint name="CameraJoint" type="fixed">
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<parent>base_link</parent>
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<child>OakD-Lite/base_link</child>
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<pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
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</joint>
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</model>
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</sdf>
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@@ -1,76 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='x500'>
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<include merge='true'>
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<uri>model://x500-Base</uri>
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</include>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500</robotNamespace>
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<jointName>rotor_0_joint</jointName>
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<linkName>rotor_0</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500</robotNamespace>
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500</robotNamespace>
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
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<robotNamespace>model/x500</robotNamespace>
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>8.54858e-06</motorConstant>
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<momentConstant>0.016</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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</model>
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</sdf>
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|
Before Width: | Height: | Size: 32 KiB |
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Before Width: | Height: | Size: 51 KiB |
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Before Width: | Height: | Size: 28 KiB |
|
Before Width: | Height: | Size: 27 KiB |
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Before Width: | Height: | Size: 23 KiB |