-
Notifications
You must be signed in to change notification settings - Fork 15
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Create new model to hold sensors and plugins
Signed-off-by: Louise Poubel <[email protected]>
- Loading branch information
Showing
5 changed files
with
267 additions
and
488 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>Tethys equiped</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Mabel Zhang</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
|
|
||
| <description> | ||
| 3D model of MBARI LRAUV Tethys, with sensors and plugins. | ||
| </description> | ||
| </model> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,190 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version="1.9"> | ||
| <model name="tethys"> | ||
| <include merge="true"> | ||
| <uri>tethys</uri> | ||
|
|
||
| <!-- Sensors --> | ||
| <experimental:params> | ||
| <sensor | ||
| element_id="base_link" | ||
| action="add" | ||
| name="salinity_sensor" | ||
| type="custom" | ||
| ignition:type="salinity"> | ||
| <always_on>1</always_on> | ||
| <update_rate>2</update_rate> | ||
| <topic>/model/tethys/salinity</topic> | ||
| <ignition:salinity> | ||
| <noise type="gaussian"> | ||
| <mean>0.00001</mean> | ||
| <stddev>0.00001</stddev> | ||
| </noise> | ||
| </ignition:salinity> | ||
| </sensor> | ||
| <sensor | ||
| element_id="base_link" | ||
| action="add" | ||
| name="temperature_sensor" | ||
| type="custom" | ||
| ignition:type="temperature"> | ||
| <always_on>1</always_on> | ||
| <update_rate>2</update_rate> | ||
| <topic>/model/tethys/temperature</topic> | ||
| <ignition:temperature> | ||
| <noise type="gaussian"> | ||
| <mean>0.00001</mean> | ||
| <stddev>0.00001</stddev> | ||
| </noise> | ||
| </ignition:temperature> | ||
| </sensor> | ||
| <sensor | ||
| element_id="base_link" | ||
| action="add" | ||
| name="chlorophyll_sensor" | ||
| type="custom" | ||
| ignition:type="chlorophyll"> | ||
| <always_on>1</always_on> | ||
| <update_rate>2</update_rate> | ||
| <topic>/model/tethys/chlorophyll</topic> | ||
| <ignition:chlorophyll> | ||
| <noise type="gaussian"> | ||
| <mean>0.00001</mean> | ||
| <stddev>0.00001</stddev> | ||
| </noise> | ||
| </ignition:chlorophyll> | ||
| </sensor> | ||
| <sensor | ||
| element_id="base_link" | ||
| action="add" | ||
| name="current_sensor" | ||
| type="custom" | ||
| ignition:type="current"> | ||
| <always_on>1</always_on> | ||
| <update_rate>2</update_rate> | ||
| <topic>/model/tethys/current</topic> | ||
| <ignition:current> | ||
| <noise type="gaussian"> | ||
| <mean>0.00001</mean> | ||
| <stddev>0.00001</stddev> | ||
| </noise> | ||
| </ignition:current> | ||
| </sensor> | ||
| </experimental:params> | ||
| <!-- Joint controllers --> | ||
| <plugin | ||
| filename="ignition-gazebo-joint-position-controller-system" | ||
| name="ignition::gazebo::systems::JointPositionController"> | ||
| <joint_name>horizontal_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-joint-position-controller-system" | ||
| name="ignition::gazebo::systems::JointPositionController"> | ||
| <joint_name>vertical_fins_joint</joint_name> | ||
| <p_gain>0.1</p_gain> | ||
| </plugin> | ||
| <plugin | ||
| filename="ThrusterPlugin" | ||
| name="tethys::Thruster"> | ||
| <namespace>tethys</namespace> | ||
| <joint_name>propeller_joint</joint_name> | ||
| <thrust_coefficient>0.004422</thrust_coefficient> | ||
| <fluid_density>1000</fluid_density> | ||
| <propeller_diameter>0.2</propeller_diameter> | ||
| <velocity_control>true</velocity_control> | ||
| </plugin> | ||
| <plugin | ||
| filename="JointPositionPlugin" | ||
| name="tethys::TethysJointPlugin"> | ||
| <joint_name>battery_joint</joint_name> | ||
| </plugin> | ||
| <!-- Lift and drag --> | ||
| <!-- Vertical fin --> | ||
| <plugin | ||
| filename="ignition-gazebo-lift-drag-system" | ||
| name="ignition::gazebo::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 1 0</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>vertical_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
| <!-- Horizontal fin --> | ||
| <plugin | ||
| filename="ignition-gazebo-lift-drag-system" | ||
| name="ignition::gazebo::systems::LiftDrag"> | ||
| <air_density>1000</air_density> | ||
| <cla>4.13</cla> | ||
| <cla_stall>-1.1</cla_stall> | ||
| <cda>0.2</cda> | ||
| <cda_stall>0.03</cda_stall> | ||
| <alpha_stall>0.17</alpha_stall> | ||
| <a0>0</a0> | ||
| <area>0.0244</area> | ||
| <upward>0 0 1</upward> | ||
| <forward>1 0 0</forward> | ||
| <link_name>horizontal_fins</link_name> | ||
| <cp>0 0 0</cp> | ||
| </plugin> | ||
| <!-- Interface with LRAUV Main Vehicle Application for each vehicle --> | ||
| <plugin | ||
| filename="TethysCommPlugin" | ||
| name="tethys::TethysCommPlugin"> | ||
| <namespace>tethys</namespace> | ||
| <command_topic>tethys/command_topic</command_topic> | ||
| <state_topic>tethys/state_topic</state_topic> | ||
| </plugin> | ||
| <plugin | ||
| filename="HydrodynamicsPlugin" | ||
| name="tethys::HydrodynamicsPlugin"> | ||
| <link_name>base_link</link_name> | ||
| <enable_coriolis>false</enable_coriolis> | ||
| <xDotU>-4.876161</xDotU> | ||
| <yDotV>-126.324739</yDotV> | ||
| <zDotW>-126.324739</zDotW> | ||
| <kDotP>0</kDotP> | ||
| <mDotQ>-33.46</mDotQ> | ||
| <nDotR>-33.46</nDotR> | ||
| <xUU>-6.2282</xUU> | ||
| <xU>0</xU> | ||
| <yVV>-601.27</yVV> | ||
| <yV>0</yV> | ||
| <zWW>-601.27</zWW> | ||
| <zW>0</zW> | ||
| <kPP>-0.1916</kPP> | ||
| <kP>0</kP> | ||
| <mQQ>-632.698957</mQQ> | ||
| <mQ>0</mQ> | ||
| <nRR>-632.698957</nRR> | ||
| <nR>0</nR> | ||
| </plugin> | ||
| <plugin | ||
| filename="BuoyancyEnginePlugin" | ||
| name="tethys::BuoyancyEnginePlugin"> | ||
| <link_name>buoyancy_engine</link_name> | ||
| <namespace>tethys</namespace> | ||
| <min_volume>0.000080</min_volume> | ||
| <neutral_volume>0.0005</neutral_volume> | ||
| <default_volume>0.0005</default_volume> | ||
| <max_volume>0.000955</max_volume> | ||
| <max_inflation_rate>0.000003</max_inflation_rate> | ||
| </plugin> | ||
| <plugin | ||
| filename="ignition-gazebo-detachable-joint-system" | ||
| name="ignition::gazebo::systems::DetachableJoint"> | ||
| <parent_link>base_link</parent_link> | ||
| <child_model>drop_weight</child_model> | ||
| <child_link>drop_weight</child_link> | ||
| <topic>/model/tethys/drop_weight</topic> | ||
| </plugin> | ||
| </include> | ||
| </model> | ||
| </sdf> |
Oops, something went wrong.