Adding sonobuoy and flight data recorder

models/dave_object_models/models/flight_data_recorder/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>flight_data_recorder</name>
+  <version>1.0</version>
+  <sdf  version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Brian Bingham</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Flight data recorder
+  </description>
+</model>

models/dave_object_models/models/flight_data_recorder/model.sdf

@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="flight_data_recorder">
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <mass>5</mass>
+        <inertia>
+          <ixx>0.2</ixx>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyy>0.2</iyy>
+          <iyz>0.0</iyz>
+          <izz>0.2</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+           <mesh>
+            <scale> 2.0 2.0 2.0 </scale>
+            <uri>file://flight_data_recorder/meshes/flight_data_recorder.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision">
+
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale> 2.0 2.0 2.0 </scale>
+            <uri>file://flight_data_recorder/meshes/flight_data_recorder_collision.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>

models/dave_object_models/models/sonobuoy/inertial_calcs.py

@@ -0,0 +1,21 @@
+'''
+iPython script to calculate inertial properties
+'''
+from math import pi
+
+# Mass [kg]
+m = 230.0
+# Length and dia [m]
+l = 2.3
+d = 0.324
+# Volume
+v = pi*(d/2)**2*l
+
+# "mass" in water [kg]
+m_water = m - v*1000
+print("Mass in water %f kg"%m_water)
+
+ixx = 0.5 * m_water * (d/2)**2
+iyy = (0.25 * m_water * (d/2)**2) + (1.0/12.0 * m_water * l**2)
+
+print("ixx = %f, iyy = izz = %.f"%(ixx,iyy))

models/dave_object_models/models/sonobuoy/meshes/sonobuoy_collision.dae

@@ -0,0 +1,70 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.0 commit date:2021-12-02, commit time:18:35, hash:f1cca3055776</authoring_tool>
+    </contributor>
+    <created>2022-02-11T08:22:12</created>
+    <modified>2022-02-11T08:22:12</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects/>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
+      <mesh>
+        <source id="Cylinder_001-mesh-positions">
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+        </source>
+        <vertices id="Cylinder_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder_001-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_001-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="COLLISION-Sonobuoy" name="COLLISION-Sonobuoy" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="COLLISION-Sonobuoy"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

models/dave_object_models/models/sonobuoy/model.config

@@ -0,0 +1,16 @@
+<?xml version='1.0'?>
+
+<model>
+  <name>sonobuoy</name>
+  <version>1.0</version>
+  <sdf  version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Brian Bingham</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    Sonobuoy
+  </description>
+</model>

models/dave_object_models/models/sonobuoy/model.sdf

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="sonobuoy">
+    <static>false</static>
+    <link name="base_link">
+      <inertial>
+        <!-- See python script in model folder for calcs -->
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0.0</ixy>
+          <ixz>0.0</ixz>
+          <iyy>2.0</iyy>
+          <iyz>0.0</iyz>
+          <izz>2.0</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <geometry>
+           <mesh>
+            <uri>file://sonobuoy/meshes/sonobuoy.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://sonobuoy/meshes/sonobuoy_collision.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>

models/dave_object_models/models/torpedo_mk46/model.config

@@ -1,9 +1,9 @@
-<?xml version='1.0'?>
+<?xml version="1.0"?>
 
 <model>
   <name>torpedo_mk46</name>
   <version>1.0</version>
-  <sdf >model.sdf</sdf>
+  <sdf  version='1.6'>model.sdf</sdf>
 
   <author>
     <name>Brian Bingham</name>

models/dave_worlds/worlds/dave_ocean_models.world

@@ -137,5 +137,18 @@
       <pose>13 -1 -94 0 0 0</pose>
       <uri>model://torpedo_mk46</uri>
     </include>
+
+    <include>
+      <name>sonobuoy</name>
+      <pose>13 -3 -94 0 0 0</pose>
+      <uri>model://sonobuoy</uri>
+    </include>
+
+    <include>
+      <name>flight_data_recorder</name>
+      <pose>13 -5 -94 0 0 0</pose>
+      <uri>model://flight_data_recorder</uri>
+    </include>
+
   </world>
 </sdf>