Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-02 05:17:03 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

Set Gazebo world in flight plan (#2172)

Browse Source 
* update documentation
* include flight_plan.h in nps_fdm_gazebo.cpp
This commit is contained in:
Tom van Dijk
2017-11-15 15:51:19 +01:00
committed by Gautier Hattenberger
parent 3f10a79d51
commit 85c2b23c9f
2 changed files with 94 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/fdm_gazebo.xml
+93 -68
View File
@@ -9,75 +9,100 @@
Usage: Usage:
1. Make sure gazebo 7 or 8 is installed. (sudo apt-get install gazebo8 libgazebo8-dev) 1. Make sure gazebo 7 or 8 is installed. (sudo apt-get install gazebo8 libgazebo8-dev)
2. Prepare the Gazebo world and model: 2. Prepare the Gazebo world and model:
a) Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/): 1. Prepare the UAV model (see conf/simulator/gazebo/models/ardrone/):
Place the aircraft model in the conf/simulator/gazebo/models/ - Place the aircraft model in the conf/simulator/gazebo/models/
folder, this folder is added to Gazebo's search path when NPS is folder, this folder is added to Gazebo's search path when NPS is
launched. launched.
Gazebo uses a Front, Left, Up coordinate system for aircraft, so - Gazebo uses a Front, Left, Up coordinate system for aircraft, so
make sure the +x axis points forwards. make sure the +x axis points forwards.
The model should include a link for each motor with the same names - The model should include a link for each motor with the same names
as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'. as those listed in NPS_ACTUATOR_NAMES (see below), e.g. 'nw_motor'.
Camera links should have the name specified in .dev_name in the - Camera links should have the name specified in .dev_name in the
corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h corresponding video_config_t struct, see sw/airborne/boards/pc_sim.h
and sw/airborne/modules/computer_vision/video_thread_nps.c. and sw/airborne/modules/computer_vision/video_thread_nps.c.
b) Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world). 2. Prepare the world (see conf/simulator/gazebo/worlds/ardrone.world).
Pay attention to the following: Pay attention to the following:
The real-time update rate should be set to zero, as this is - The real-time update rate should be set to zero, as this is
already handled by Paparazzi: already handled by Paparazzi:
<physics type="ode"> @code{.xml}
<max_step_size>0.001</max_step_size> <physics type="ode">
<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! --> <max_step_size>0.001</max_step_size>
</physics> <real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
Spherical coordinates should be provided for navigation. </physics>
At this moment, there is an issue where Gazebo incorrectly @endcode
uses a WSU coordinate system instead of ENU. This can be fixed - Spherical coordinates should be provided for navigation.
by setting the heading to 180 degrees as shown below: At this moment, there is an issue where Gazebo incorrectly
<spherical_coordinates> uses a WSU coordinate system instead of ENU. This can be fixed
<surface_model>EARTH_WGS84</surface_model> by setting the heading to 180 degrees as shown below:
<latitude_deg>51.9906</latitude_deg> @code{.xml}
<longitude_deg>4.37679</longitude_deg> <spherical_coordinates>
<elevation>0</elevation> <surface_model>EARTH_WGS84</surface_model>
<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should --> <latitude_deg>51.9906</latitude_deg>
</spherical_coordinates> <longitude_deg>4.37679</longitude_deg>
<elevation>0</elevation>
<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
</spherical_coordinates>
@endcode
3. Prepare the airframe file (see examples/ardrone2_gazebo.xml): 3. Prepare the airframe file (see examples/ardrone2_gazebo.xml):
a) Select Gazebo as the FDM (Flight Dynamics Model) 1. Select Gazebo as the FDM (Flight Dynamics Model)
<target name="nps" board="pc"> @code{.xml}
<module name="fdm" type="gazebo"/> <target name="nps" board="pc">
</target> <module name="fdm" type="gazebo"/>
b) Add actuator thrusts and torques to the SIMULATOR section: </target>
<section name="SIMULATOR" prefix="NPS_"> @endcode
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> 2. Add actuator thrusts and torques to the SIMULATOR section:
<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/> @code{.xml}
<define name="ACTUATOR_TORQUES" value="0.155, -0.155, 0.155, -0.155" type="float[]"/> <section name="SIMULATOR" prefix="NPS_">
... <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<section> <define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
The thrusts and torques are expressed in SI units (N, Nm) and should <define name="ACTUATOR_TORQUES" value="0.155, -0.155, 0.155, -0.155" type="float[]"/>
be in the same order as the ACTUATOR_NAMES. ...
c) In the same section, bypass the AHRS and INS as these are not <section>
supported yet: @endcode
<section name="SIMULATOR" prefix="NPS_"> The thrusts and torques are expressed in SI units (N, Nm) and should
... be in the same order as the ACTUATOR_NAMES.
<define name="BYPASS_AHRS" value="1"/> 3. In the same section, bypass the AHRS and INS as these are not
<define name="BYPASS_INS" value="1"/> supported yet:
... @code{.xml}
<section> <section name="SIMULATOR" prefix="NPS_">
d) If required, enable video thread simulation: ...
<section name="SIMULATOR" prefix="NPS_"> <define name="BYPASS_AHRS" value="1"/>
... <define name="BYPASS_INS" value="1"/>
<define name="SIMULATE_VIDEO" value="1"/> ...
... </section>
<section> @endcode
e) If required, specify the Gazebo world and aircraft name: 4. If required, enable video thread simulation:
<section name="SIMULATOR" prefix="NPS_"> @code{.xml}
... <section name="SIMULATOR" prefix="NPS_">
<define name="GAZEBO_WORLD" value="my_world.world"/> ...
<define name="GAZEBO_AC_NAME" value="my_uav"/> <define name="SIMULATE_VIDEO" value="1"/>
<section> ...
4. Make sure all included modules work with nps. At the moment, most of </section>
the modules that depend on video_thread are only built when ap is @endcode
selected as the target. As a quick fix, try to remove the target 5. If required, set the aircraft model in the airframe file:
attribute from the makefile element in the module xml, e.g.: @code{.xml}
<makefile target="ap"> ---> <makefile> <section name="SIMULATOR" prefix="NPS_">
...
<define name="GAZEBO_AC_NAME" value="my_uav"/>
</section>
@endcode
6. Make sure all included modules work with nps. At the moment, most of
the modules that depend on video_thread are only built when ap is
selected as the target. To fix this, add nps to the target attribute
in the module xml, e.g.:
@code{.xml}
<makefile target="ap|nps">
@endcode
4. If required, set the simulation environment in the flight plan file:
@code{.xml}
<flight_plan ...>
<header>
...
#define NPS_GAZEBO_WORLD "my.world"
</header>
...
<flight_plan>
@endcode
</description> </description>
</doc> </doc>
<header/> <header/>
sw/simulator/nps/nps_fdm_gazebo.cpp
+1
View File
@@ -51,6 +51,7 @@ extern "C" {
#include "nps_autopilot.h" #include "nps_autopilot.h"
#include "generated/airframe.h" #include "generated/airframe.h"
#include "generated/flight_plan.h"
#include "autopilot.h" #include "autopilot.h"
#include "math/pprz_isa.h" #include "math/pprz_isa.h"