mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-02 13:27:32 +08:00
[gazebo] add ROS support and sonar sensor (#2399)
This commit is contained in:
Tom van Dijk
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
a807bf7afe
commit
2430b31f0f
@@ -0,0 +1,14 @@
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<!DOCTYPE airframe SYSTEM "../../../airframes/airframe.dtd">
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<airframe>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_THRUSTS" value="2.80, 2.80, 2.80, 2.80" type="float[]"/>
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<define name="ACTUATOR_TORQUES" value="0.05, 0.05, 0.05, 0.05" type="float[]"/>
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<define name="ACTUATOR_TIME_CONSTANTS" value="0.02, 0.02, 0.02, 0.02" type="float[]"/>
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<define name="ACTUATOR_MAX_ANGULAR_MOMENTUM" value="0.5, 0.5, 0.5, 0.5" type="float[]"/>
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<define name="GAZEBO_AC_NAME" value="bebop2" type="string"/>
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<define name="BYPASS_AHRS" value="1"/>
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<define name="BYPASS_INS" value="1"/>
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<!-- <define name="SIMULATE_MT9F002" value="1"/> --><!-- TODO -->
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</section>
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</airframe>
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@@ -0,0 +1,299 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<model name="bebop2">
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<pose>0 0 .1 0 0 0</pose>
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<link name="chassis">
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<velocity_decay>
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<linear>0.001</linear>
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</velocity_decay>
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<inertial>
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<mass>0.536</mass>
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<inertia>
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<ixx> 0.000906 </ixx>
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<iyy> 0.002225 </iyy>
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<izz> 0.002500 </izz>
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<ixy> 0. </ixy>
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<ixz> 0. </ixz>
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<iyz> 0. </iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.4 0.4 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.15 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.82 0.82 0.82 1</diffuse>
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<ambient>0.82 0.82 0.82 1</ambient>
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</material>
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</visual>
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<sensor name="contactsensor" type="contact">
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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</link>
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<!-- MOTORS -->
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<link name="nw_motor">
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<pose>0.0875 0.1125 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.82 0.82 0.82 1</diffuse>
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<ambient>0.82 0.82 0.82 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="nw_motor_joint">
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<parent>chassis</parent>
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<child>nw_motor</child>
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</joint>
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<link name="se_motor">
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<pose>-0.0875 -0.1125 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="se_motor_joint">
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<parent>chassis</parent>
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<child>se_motor</child>
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</joint>
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<link name="ne_motor">
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<pose>0.0875 -0.1125 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.82 0.82 0.82 1</diffuse>
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<ambient>0.82 0.82 0.82 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="ne_motor_joint">
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<parent>chassis</parent>
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<child>ne_motor</child>
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</joint>
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<link name="sw_motor">
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<pose>-0.0875 0.1125 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="sw_motor_joint">
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<parent>chassis</parent>
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<child>sw_motor</child>
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</joint>
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<link name="sonar">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<sensor name="sonarsensor" type="sonar">
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<sonar>
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<min>0.20</min>
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<max>5.0</max>
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<radius>0.50</radius>
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</sonar>
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</sensor>
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</link>
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<joint name="sonar_joint" type="fixed">
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<parent>chassis</parent>
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<child>sonar</child>
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</joint>
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<!-- CAMERAS -->
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<link name="front_camera">
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<pose>0.15 0 0 -1.57 0.33 0</pose><!-- Bebop camera output is rotated 90 degrees and pitched slightly downwards -->
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<sensor type="wideanglecamera" name="front_camera">
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<update_rate>15.0</update_rate><!-- adjust with MT9F002_TARGET_FPS -->
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<camera name="front_camera">
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<image>
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<width>3746</width><!-- with MT9F002_OUTPUT_SCALER = 1.00, will be scaled by NPS --><!-- Reduced to 3 rad FoV for Gazebo 7 compatibility -->
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<height>3288</height>
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<format>R8G8B8</format>
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</image>
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<horizontal_fov>3.00</horizontal_fov>
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<lens>
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<type>equisolid_angle</type>
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<scale_to_hfov>true</scale_to_hfov>
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<env_texture_size>2048</env_texture_size><!-- with MT9F002_OUTPUT_SCALER = 1.00, will be scaled by NPS -->
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</lens>
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<clip>
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<near>0.01</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame. That pixel's
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noise value is added to each of its color channels, which at that point lie
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in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</sensor>
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</link>
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<joint name="front_camera_joint" type="fixed">
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<parent>chassis</parent>
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<child>front_camera</child>
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</joint>
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<link name="bottom_camera">
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<pose>0 0 0 0 1.57 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<sensor type="camera" name="bottom_camera">
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<update_rate>30.0</update_rate>
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<camera name="bottom_camera">
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<horizontal_fov>0.7175</horizontal_fov>
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<image>
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<width>240</width>
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<height>240</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame. That pixel's
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noise value is added to each of its color channels, which at that point lie
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in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</sensor>
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</link>
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<joint name="bottom_camera_joint" type="fixed">
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<parent>chassis</parent>
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<child>bottom_camera</child>
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</joint>
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</model>
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</sdf>
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@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<model>
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<name>Bebop 2 (Paparazzi)</name>
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<version>1.0</version>
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<sdf version='1.4'>bebop2.sdf</sdf>
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<author>
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<name>Tom van Dijk</name>
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<email>tomvand@users.noreply.github.com</email>
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</author>
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<description>
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Simple Bebop 2 model for use with Paparazzi's NPS (http://wiki.paparazziuav.org).
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</description>
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</model>
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@@ -0,0 +1,310 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<model name="bebop2_with_slamdunk">
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<pose>0 0 .1 0 0 0</pose>
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<link name="chassis">
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<velocity_decay>
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<linear>0.001</linear>
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</velocity_decay>
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<inertial>
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<mass>0.536</mass>
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<inertia>
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<ixx> 0.000906 </ixx>
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<iyy> 0.002225 </iyy>
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<izz> 0.002500 </izz>
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<ixy> 0. </ixy>
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<ixz> 0. </ixz>
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<iyz> 0. </iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.4 0.4 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.15 0.05 0.05</size>
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</box>
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</geometry>
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<material>
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<diffuse>0.82 0.82 0.82 1</diffuse>
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<ambient>0.82 0.82 0.82 1</ambient>
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</material>
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</visual>
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<sensor name="contactsensor" type="contact">
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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</link>
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<!-- SLAMDUNK -->
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<include name="slamdunk">
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<uri>model://slamdunk</uri>
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<pose>0 0 .05 0 0 0</pose>
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</include>
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<joint type="fixed" name="slamdunk_joint">
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<parent>chassis</parent>
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<child>slamdunk::slamdunk_link</child>
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</joint>
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<!-- MOTORS -->
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<link name="nw_motor">
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<pose>0.0875 0.1125 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
|
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<inertia>
|
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<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
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<ixy>0</ixy>
|
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<iyz>0</iyz>
|
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<ixz>0</ixz>
|
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</inertia>
|
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</inertial>
|
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<visual name="visual">
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<geometry>
|
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<cylinder>
|
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<radius>0.05</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.82 0.82 0.82 1</diffuse>
|
||||
<ambient>0.82 0.82 0.82 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
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<joint type="fixed" name="nw_motor_joint">
|
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<parent>chassis</parent>
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<child>nw_motor</child>
|
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</joint>
|
||||
|
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<link name="se_motor">
|
||||
<pose>-0.0875 -0.1125 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.01</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.05</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.1 0.1 0.1 1</diffuse>
|
||||
<ambient>0.1 0.1 0.1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
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<joint type="fixed" name="se_motor_joint">
|
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<parent>chassis</parent>
|
||||
<child>se_motor</child>
|
||||
</joint>
|
||||
|
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<link name="ne_motor">
|
||||
<pose>0.0875 -0.1125 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.01</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.05</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.82 0.82 0.82 1</diffuse>
|
||||
<ambient>0.82 0.82 0.82 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="ne_motor_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>ne_motor</child>
|
||||
</joint>
|
||||
|
||||
<link name="sw_motor">
|
||||
<pose>-0.0875 0.1125 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.01</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.05</radius>
|
||||
<length>0.02</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.1 0.1 0.1 1</diffuse>
|
||||
<ambient>0.1 0.1 0.1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint type="fixed" name="sw_motor_joint">
|
||||
<parent>chassis</parent>
|
||||
<child>sw_motor</child>
|
||||
</joint>
|
||||
|
||||
<link name="sonar">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<sensor name="sonarsensor" type="sonar">
|
||||
<sonar>
|
||||
<min>0.20</min>
|
||||
<max>5.0</max>
|
||||
<radius>0.50</radius>
|
||||
</sonar>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="sonar_joint" type="fixed">
|
||||
<parent>chassis</parent>
|
||||
<child>sonar</child>
|
||||
</joint>
|
||||
|
||||
<!-- CAMERAS -->
|
||||
|
||||
<link name="front_camera">
|
||||
<pose>0.15 0 0 -1.57 0.33 0</pose><!-- Bebop camera output is rotated 90 degrees and pitched slightly downwards -->
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<sensor type="wideanglecamera" name="front_camera">
|
||||
<update_rate>15.0</update_rate><!-- adjust with MT9F002_TARGET_FPS -->
|
||||
<camera name="front_camera">
|
||||
<image>
|
||||
<width>3746</width><!-- with MT9F002_OUTPUT_SCALER = 1.00, will be scaled by NPS --><!-- Reduced to 3 rad FoV for Gazebo 7 compatibility -->
|
||||
<height>3288</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<horizontal_fov>3.00</horizontal_fov>
|
||||
<lens>
|
||||
<type>equisolid_angle</type>
|
||||
<scale_to_hfov>true</scale_to_hfov>
|
||||
<env_texture_size>2048</env_texture_size><!-- with MT9F002_OUTPUT_SCALER = 1.00, will be scaled by NPS -->
|
||||
</lens>
|
||||
<clip>
|
||||
<near>0.01</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame. That pixel's
|
||||
noise value is added to each of its color channels, which at that point lie
|
||||
in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="front_camera_joint" type="fixed">
|
||||
<parent>chassis</parent>
|
||||
<child>front_camera</child>
|
||||
</joint>
|
||||
|
||||
<link name="bottom_camera">
|
||||
<pose>0 0 0 0 1.57 0</pose>
|
||||
<inertial>
|
||||
<mass>0.001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0001</ixx>
|
||||
<iyy>0.0001</iyy>
|
||||
<izz>0.0001</izz>
|
||||
<ixy>0</ixy>
|
||||
<iyz>0</iyz>
|
||||
<ixz>0</ixz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<sensor type="camera" name="bottom_camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="bottom_camera">
|
||||
<horizontal_fov>0.7175</horizontal_fov>
|
||||
<image>
|
||||
<width>240</width>
|
||||
<height>240</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise is sampled independently per pixel on each frame. That pixel's
|
||||
noise value is added to each of its color channels, which at that point lie
|
||||
in the range [0,1]. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
<joint name="bottom_camera_joint" type="fixed">
|
||||
<parent>chassis</parent>
|
||||
<child>bottom_camera</child>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>Bebop 2 (Paparazzi) with SLAMDunk</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.4'>bebop2_with_slamdunk.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Tom van Dijk</name>
|
||||
<email>tomvand@users.noreply.github.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Bebop 2 with SLAMDunk
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>SLAMDunk</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.4'>slamdunk.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Tom van Dijk</name>
|
||||
<email>tomvand@users.noreply.github.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
Approximate parrot SLAMDunk model
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,134 @@
|
||||
<?xml version='1.0'?>
|
||||
<sdf version='1.4'>
|
||||
<model name="slamdunk">
|
||||
<link name="slamdunk_link">
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.06 0.025</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.1 0.1 0.1 1</diffuse>
|
||||
<ambient>0.1 0.1 0.1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name="visual2">
|
||||
<pose>0.04 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.005 0.2 0.025</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<diffuse>0.1 0.1 0.1 1</diffuse>
|
||||
<ambient>0.1 0.1 0.1 1</ambient>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass>0.135</mass>
|
||||
<inertia>
|
||||
<ixx> 0.00010 </ixx>
|
||||
<iyy> 0.00020 </iyy>
|
||||
<izz> 0.00020 </izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="slamdunk_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.12 0.06 0.025</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- <sensor type="depth" name="depth_camera">
|
||||
<pose>0.05 0.1 0 0 0 0</pose>
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="depth_cam">
|
||||
<horizontal_fov>1.19</horizontal_fov>
|
||||
<image>
|
||||
<width>96</width>
|
||||
<height>96</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="depth_controller" filename="libgazebo_ros_depth_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>slamdunk_camera</cameraName>
|
||||
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<depthImageTopicName>/depth_map/image</depthImageTopicName>
|
||||
<depthImageCameraInfoTopicName>/depth_map/camera_info</depthImageCameraInfoTopicName>
|
||||
<pointCloudTopicName>points</pointCloudTopicName>
|
||||
<frameName>cam_optical_frame</frameName>
|
||||
<pointCloudCutoff>0.02</pointCloudCutoff>
|
||||
</plugin>
|
||||
</sensor> -->
|
||||
<sensor type="camera" name="left_rgb_rect">
|
||||
<pose>0.05 0.1 0 0 0 0</pose>
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="left_rgb_rect_cam">
|
||||
<horizontal_fov>1.19</horizontal_fov>
|
||||
<image>
|
||||
<width>576</width>
|
||||
<height>576</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="left_cam_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>left_rgb_rect</cameraName>
|
||||
<imageTopicName>image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>cam_optical_frame2</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
<sensor type="camera" name="right_rgb_rect">
|
||||
<pose>0.05 -0.1 0 0 0 0</pose>
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="right_rgb_rect_cam">
|
||||
<horizontal_fov>1.19</horizontal_fov>
|
||||
<image>
|
||||
<width>576</width>
|
||||
<height>576</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>1000</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="right_cam_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>right_rgb_rect</cameraName>
|
||||
<imageTopicName>image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>cam_optical_frame3</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
<sensor type="imu" name="imu_sensor">
|
||||
<update_rate>200</update_rate>
|
||||
<imu>
|
||||
</imu>
|
||||
<plugin name="imu_controller" filename="libgazebo_ros_imu_sensor.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRateHZ>0.0</updateRateHZ>
|
||||
<robotNamespace></robotNamespace>
|
||||
<topicName>imu</topicName>
|
||||
<bodyName>slamdunk_link</bodyName>
|
||||
<frameName>slamdunk_link</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -131,7 +131,9 @@ void nps_autopilot_run_step(double time)
|
||||
#if USE_SONAR
|
||||
if (nps_sensors_sonar_available()) {
|
||||
float dist = (float) sensors.sonar.value;
|
||||
AbiSendMsgAGL(AGL_SONAR_NPS_ID, dist);
|
||||
if (dist >= 0.0) {
|
||||
AbiSendMsgAGL(AGL_SONAR_NPS_ID, dist);
|
||||
}
|
||||
|
||||
#ifdef SENSOR_SYNC_SEND_SONAR
|
||||
uint16_t foo = 0;
|
||||
|
||||
@@ -121,6 +121,8 @@ static void gazebo_read_range_sensors(void);
|
||||
|
||||
#endif
|
||||
|
||||
std::shared_ptr<gazebo::sensors::SonarSensor> sonar = NULL;
|
||||
|
||||
/// Holds all necessary NPS FDM state information
|
||||
struct NpsFdm fdm;
|
||||
|
||||
@@ -328,6 +330,14 @@ static void init_gazebo(void)
|
||||
string gazebodir = pprz_home + gazebo_home;
|
||||
cout << "Gazebo directory: " << gazebodir << endl;
|
||||
|
||||
if (getenv("ROS_MASTER_URI")) {
|
||||
// Launch with ROS support
|
||||
cout << "Add ROS plugins... ";
|
||||
gazebo::addPlugin("libgazebo_ros_paths_plugin.so");
|
||||
gazebo::addPlugin("libgazebo_ros_api_plugin.so");
|
||||
cout << "ok" << endl;
|
||||
}
|
||||
|
||||
if (!gazebo::setupServer(0, NULL)) {
|
||||
cout << "Failed to start Gazebo, exiting." << endl;
|
||||
std::exit(-1);
|
||||
@@ -431,10 +441,34 @@ static void init_gazebo(void)
|
||||
gazebo::runWorld(world, 1);
|
||||
cout << "Sensors initialized..." << endl;
|
||||
|
||||
// activate collision sensor
|
||||
// Find sensors
|
||||
// Contact sensor
|
||||
gazebo::sensors::SensorManager *mgr = gazebo::sensors::SensorManager::Instance();
|
||||
ct = static_pointer_cast < gazebo::sensors::ContactSensor > (mgr->GetSensor("contactsensor"));
|
||||
ct->SetActive(true);
|
||||
// Sonar
|
||||
sonar = static_pointer_cast<gazebo::sensors::SonarSensor>(mgr->GetSensor("sonarsensor"));
|
||||
if(sonar) {
|
||||
cout << "Found sonar" << endl;
|
||||
}
|
||||
|
||||
gazebo::physics::LinkPtr link = model->GetLink("sonar");
|
||||
if (link) {
|
||||
// Get a pointer to the sensor using its full name
|
||||
if (link->GetSensorCount() != 1) {
|
||||
cout << "ERROR: Link '" << link->GetName()
|
||||
<< "' should only contain 1 sensor!" << endl;
|
||||
} else {
|
||||
string name = link->GetSensorName(0);
|
||||
sonar = static_pointer_cast< gazebo::sensors::SonarSensor > (mgr->GetSensor(name));
|
||||
if (!sonar) {
|
||||
cout << "ERROR: Could not get pointer to '" << name << "'!" << endl;
|
||||
} else {
|
||||
// Activate sensor
|
||||
sonar->SetActive(true);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Overwrite motor directions as defined by motor_mixing
|
||||
#ifdef MOTOR_MIXING_YAW_COEF
|
||||
@@ -498,7 +532,14 @@ static void gazebo_read(void)
|
||||
fdm.lla_pos_pprz = fdm.lla_pos; // Don't really care...
|
||||
fdm.lla_pos_geod = fdm.lla_pos;
|
||||
fdm.lla_pos_geoc = fdm.lla_pos;
|
||||
fdm.agl = pose.Pos().Z(); // TODO Measure with sensor
|
||||
|
||||
if(sonar) {
|
||||
double agl = sonar->Range();
|
||||
if (agl > sonar->RangeMax()) agl = -1.0;
|
||||
fdm.agl = agl;
|
||||
} else {
|
||||
fdm.agl = pose.Pos().Z(); // TODO Measure with sensor
|
||||
}
|
||||
|
||||
/* velocity */
|
||||
fdm.ecef_ecef_vel = to_pprz_ecef(sphere->VelocityTransform(vel, gazebo::common::SphericalCoordinates::LOCAL,
|
||||
|
||||
Executable
+15
@@ -0,0 +1,15 @@
|
||||
#!/bin/sh
|
||||
# This script sets up environment variables for gazebo_ros
|
||||
|
||||
# Paparazzi paths
|
||||
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/conf/simulator/gazebo/models:$GAZEBO_MODEL_PATH"
|
||||
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/sw/ext/tudelft_gazebo_models/models:$GAZEBO_MODEL_PATH"
|
||||
|
||||
# ROS and Gazebo defaults
|
||||
ROS_SETUP=`locate --regex 'ros/[a-z]*/setup.sh$'`
|
||||
GAZEBO_SETUP=`locate --regex 'gazebo/setup.sh$'`
|
||||
. $ROS_SETUP
|
||||
. $GAZEBO_SETUP
|
||||
|
||||
# Launch NPS-Gazebo
|
||||
exec $PAPARAZZI_HOME/sw/simulator/pprzsim-launch $@
|
||||
Reference in New Issue
Block a user