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Complete Gazebo 11 → GZ Harmonic conversion for NPS simulator (#3607)
* Initial plan * Update SDF models for GZ Harmonic compatibility - Update SDF version from 1.4 to 1.9 in all model files - Remove deprecated velocity_decay blocks Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> * Fix GZ Harmonic integration: rewrite nps_fdm_gazebo.cpp with proper System plugin, convert world files to SDF, update launchers Co-authored-by: dewagter <490108+dewagter@users.noreply.github.com> * Address review feedback: guard against division by zero in yaw_coef, add heading_deg comments Co-authored-by: dewagter <490108+dewagter@users.noreply.github.com> * Add sdformat14 to explicit pkg-config dependencies Co-authored-by: dewagter <490108+dewagter@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Co-authored-by: dewagter <490108+dewagter@users.noreply.github.com>
This commit is contained in:
Copilot
committed by
Christophe De Wagter
Christophe De Wagter
parent
cff6953887
commit
71a18fb2af
@@ -3,11 +3,11 @@
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<module name="fdm_gazebo" dir="fdm">
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<doc>
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<description>
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Gazebo backend for NPS simulator
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Gazebo Harmonic backend for NPS simulator
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NPS doc: http://wiki.paparazziuav.org/wiki/NPS
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Usage:
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1. Make sure gazebo 9 is installed. (sudo apt-get install gazebo9 libgazebo9-dev)
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1. Make sure Gazebo Harmonic is installed. (sudo apt-get install gz-harmonic)
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2. Prepare the Gazebo world and model:
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1. Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/):
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- Place the aircraft model in the conf/simulator/gazebo/models/
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@@ -135,7 +135,7 @@
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<header/>
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<makefile target="nps">
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<raw>
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GZ_COMPONENTS = gz-sim8 gz-transport13 gz-msgs10 gz-math7 gz-sensors8
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GZ_COMPONENTS = gz-sim8 gz-transport13 gz-msgs10 gz-math7 gz-sensors8 sdformat14
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nps.CXXFLAGS += $(shell pkg-config --cflags $(GZ_COMPONENTS)) -fPIC
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nps.LDFLAGS += $(shell pkg-config --libs $(GZ_COMPONENTS))
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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="ardrone">
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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><!-- Converted to SI from Paparazzi's ARDrone model for JSBsim -->
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@@ -1,13 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="bebop">
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<pose>0 0 .1 0 0 1.57</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><!-- With bumpers. Tuned for correct nominal hover thrust, mass is higher than in real life (~0.40kg) -->
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<inertia>
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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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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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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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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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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="bebop_w_stereo_cams">
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<pose>0 0 .1 0 0 1.57</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><!-- With bumpers. Tuned for correct nominal hover thrust, mass is higher than in real life (~0.40kg) -->
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@@ -1,5 +1,5 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="range_sensors">
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<link name="base">
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<inertial>
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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="simple_quad">
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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><!-- Converted to SI from Paparazzi's ARDrone model for JSBsim -->
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@@ -1,12 +1,9 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="simple_x_quad">
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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><!-- Converted to SI from Paparazzi's ARDrone model for JSBsim -->
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@@ -1,5 +1,5 @@
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<sdf version='1.9'>
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<model name="slamdunk">
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<link name="slamdunk_link">
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<visual name="visual">
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@@ -0,0 +1,82 @@
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<?xml version='1.0'?>
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<sdf version="1.9">
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<world name="cyberzoo">
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
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</physics>
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<!-- Without lighting -->
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<scene>
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<ambient>0.9 0.9 0.9 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>false</shadows>
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</scene>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<latitude_deg>51.9906361</latitude_deg>
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<longitude_deg>4.3767874</longitude_deg>
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<elevation>45.110</elevation>
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<heading_deg>0</heading_deg><!-- GZ Harmonic fixed the WSU/ENU coordinate bug; no longer need heading=180 workaround -->
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</spherical_coordinates>
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<model name="ground_plane">
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<static>true</static>
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<pose>0 0 -0.02 0 0 0.454</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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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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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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<include>
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<uri>model://cyberzoo</uri>
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<pose>0 0 0 0 0 0.454</pose>
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</include>
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<include>
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<uri>model://orange_pole</uri>
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<name>orange_pole1</name>
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<pose>-1.8 -3.4 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://orange_pole</uri>
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<name>orange_pole2</name>
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<pose>-1.8 0.5 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://orange_pole</uri>
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<name>orange_pole3</name>
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<pose>0.6 0.7 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://orange_pole</uri>
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<name>orange_pole4</name>
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<pose>1.5 -2.5 0 0 0 0</pose>
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</include>
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<include>
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<uri>model://orange_pole</uri>
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<name>orange_pole5</name>
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<pose>2.8 2.5 0 0 0 0</pose>
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</include>
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</world>
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</sdf>
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@@ -1,5 +1,5 @@
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<?xml version='1.0'?>
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<sdf version="1.6">
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<sdf version="1.9">
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<world name="empty">
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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@@ -8,11 +8,11 @@
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<scene>
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<ambient>1 1 1 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>0</shadows>
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<shadows>false</shadows>
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</scene>
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<light name='sun' type='directional'>
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<cast_shadows>1</cast_shadows>
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<pose frame=''>0 0 10 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.1 0.1 0.1 1</specular>
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<attenuation>
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@@ -28,11 +28,33 @@
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<latitude_deg>51.9906340</latitude_deg>
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<longitude_deg>4.3767889</longitude_deg>
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<elevation>45.110</elevation>
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<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
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<heading_deg>0</heading_deg><!-- GZ Harmonic fixed the WSU/ENU coordinate bug; no longer need heading=180 workaround -->
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</spherical_coordinates>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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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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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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@@ -1,12 +1,8 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from imav_indoor.world.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<sdf version="1.6">
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<sdf version="1.9">
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<world name="square_world">
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<light name="sun" type="directional">
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<cast_shadows>1</cast_shadows>
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<cast_shadows>true</cast_shadows>
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<pose>0 10 0 0 0 -1.57079632679</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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@@ -23,32 +19,20 @@
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<latitude_deg>51.9906340</latitude_deg>
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<longitude_deg>4.3767889</longitude_deg>
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<elevation>45.110</elevation>
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<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
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<heading_deg>0</heading_deg><!-- GZ Harmonic fixed the WSU/ENU coordinate bug; no longer need heading=180 workaround -->
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</spherical_coordinates>
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<physics type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
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</physics>
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<gravity>0 0 -9.8</gravity>
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<gui fullscreen="0">
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<camera name="user_camera">
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<pose>1.49016 -3.72367 3.62379 -2.88294e-17 0.273797 1.4042</pose>
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<view_controller>orbit</view_controller>
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</camera>
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</gui>
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<scene>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<shadows>0</shadows>
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<grid>0</grid>
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<shadows>false</shadows>
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</scene>
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<model name="floor">
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<static>1</static>
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<static>true</static>
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<pose>0.0 0.0 0 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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@@ -65,15 +49,10 @@
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<mu2>50</mu2>
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</ode>
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</friction>
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<bounce/>
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<contact>
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<ode/>
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</contact>
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</surface>
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<max_contacts>10</max_contacts>
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</collision>
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<visual name="visual">
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<cast_shadows>0</cast_shadows>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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@@ -81,18 +60,10 @@
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</plane>
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</geometry>
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<material>
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<script>
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<name>Kitchen/Grass</name>
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</script>
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<ambient>0.3 0.5 0.3 1</ambient>
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<diffuse>0.3 0.5 0.3 1</diffuse>
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</material>
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</visual>
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<velocity_decay>
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<linear>0</linear>
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<angular>0</angular>
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</velocity_decay>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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<gravity>1</gravity>
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</link>
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</model>
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<model name="wall1">
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@@ -108,11 +79,6 @@
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<size>15 0.2 5.0</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x02</collide_bitmask>
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</contact>
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</surface>
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</collision>
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<visual name="wall_brand_visual">
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<geometry>
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@@ -121,9 +87,8 @@
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>0.7 0.3 0.2 1</ambient>
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<diffuse>0.7 0.3 0.2 1</diffuse>
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</material>
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</visual>
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</link>
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@@ -141,11 +106,6 @@
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<size>15 0.2 5.0</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x02</collide_bitmask>
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</contact>
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</surface>
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</collision>
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<visual name="wall_visual">
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<geometry>
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@@ -154,9 +114,8 @@
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>0.7 0.3 0.2 1</ambient>
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<diffuse>0.7 0.3 0.2 1</diffuse>
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</material>
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</visual>
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</link>
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@@ -174,11 +133,6 @@
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<size>15 0.2 5.0</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<collide_bitmask>0x02</collide_bitmask>
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</contact>
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</surface>
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</collision>
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<visual name="wall_visual">
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<geometry>
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@@ -187,9 +141,8 @@
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Bricks</name>
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</script>
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<ambient>0.7 0.3 0.2 1</ambient>
|
||||
<diffuse>0.7 0.3 0.2 1</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
@@ -207,11 +160,6 @@
|
||||
<size>15 0.2 5.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<collide_bitmask>0x02</collide_bitmask>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="wall_visual">
|
||||
<geometry>
|
||||
@@ -220,13 +168,11 @@
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>Gazebo/Bricks</name>
|
||||
</script>
|
||||
<ambient>0.7 0.3 0.2 1</ambient>
|
||||
<diffuse>0.7 0.3 0.2 1</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
|
||||
|
||||
@@ -1,2 +1,2 @@
|
||||
<program command="sw/tools/gzclient_launcher.sh" name="Gazebo" />
|
||||
<program command="sw/tools/gzclient_launcher.sh" name="Gazebo Harmonic" />
|
||||
|
||||
|
||||
+338
-203
File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
|
||||
#!/bin/sh
|
||||
# This script sets up the GAZEBO_MODEL_PATH for the gazebo client.
|
||||
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:$GAZEBO_MODEL_PATH"
|
||||
exec gzclient
|
||||
# This script sets up the resource paths and launches the Gazebo Harmonic GUI client.
|
||||
export GZ_SIM_RESOURCE_PATH="$PAPARAZZI_HOME/conf/simulator/gazebo/models:$GZ_SIM_RESOURCE_PATH"
|
||||
export GZ_SIM_RESOURCE_PATH="$PAPARAZZI_HOME/sw/ext/tudelft_gazebo_models/models:$GZ_SIM_RESOURCE_PATH"
|
||||
exec gz sim -g
|
||||
|
||||
|
||||
@@ -1,15 +1,13 @@
|
||||
#!/bin/sh
|
||||
# This script sets up environment variables for gazebo_ros
|
||||
# This script sets up environment variables for Gazebo Harmonic with ROS
|
||||
|
||||
# Paparazzi paths
|
||||
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/conf/simulator/gazebo/models:$GAZEBO_MODEL_PATH"
|
||||
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/sw/ext/tudelft_gazebo_models/models:$GAZEBO_MODEL_PATH"
|
||||
export GZ_SIM_RESOURCE_PATH="$PAPARAZZI_HOME/conf/simulator/gazebo/models:$GZ_SIM_RESOURCE_PATH"
|
||||
export GZ_SIM_RESOURCE_PATH="$PAPARAZZI_HOME/sw/ext/tudelft_gazebo_models/models:$GZ_SIM_RESOURCE_PATH"
|
||||
|
||||
# ROS and Gazebo defaults
|
||||
# ROS defaults
|
||||
ROS_SETUP=`locate --regex 'ros/[a-z]*/setup.sh$'`
|
||||
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