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Pr gz sim tiltrotor #66

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Pr gz sim tiltrotor #66

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93ce328
First draft
Perrrewi Nov 15, 2024
fd59306
Update to gz harmonic, including colors, plugins, sensors
Perrrewi Nov 22, 2024
a6f27f3
Move the motor block on top of the bar, use clockwise orientations fo…
Perrrewi Nov 22, 2024
5ce57e2
Tuning
Perrrewi Nov 27, 2024
4aaa66e
Set coherent limits with PX4 servo settings
Perrrewi Nov 29, 2024
3d80b49
reuse meshes that exist
Perrrewi Dec 2, 2024
3691e12
Set servo number coherent with airframe file
Perrrewi Dec 11, 2024
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30 changes: 12 additions & 18 deletions models/advanced_plane/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -360,9 +360,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -389,9 +388,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -418,9 +416,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -447,9 +444,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -476,9 +472,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -505,9 +500,8 @@
<axis>
<xyz>0 0 1</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand Down
6 changes: 2 additions & 4 deletions models/lawnmower/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -572,7 +572,6 @@
</joint>
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
<joint_name>right_wheel_joint</joint_name>
<!--sub_topic>servo_0</sub_topic-->
<sub_topic>command/motor_speed</sub_topic>
<use_actuator_msg>true</use_actuator_msg>
<actuator_number>0</actuator_number>
Expand All @@ -589,7 +588,6 @@
</plugin>
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
<joint_name>left_wheel_joint</joint_name>
<!--sub_topic>servo_1</sub_topic-->
<sub_topic>command/motor_speed</sub_topic>
<use_actuator_msg>true</use_actuator_msg>
<actuator_number>1</actuator_number>
Expand All @@ -607,15 +605,15 @@
<!-- Note: SIM_GZ_SV_FAIL1 defines servo_0 etc. -->
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
<joint_name>cutter_blades_joint</joint_name>
<sub_topic>servo_2</sub_topic>
<sub_topic>servo_0</sub_topic>
<!-- p_gain>1.0</p_gain>
<cmd_max>2000.0</cmd_max>
<cmd_min>1000.0</cmd_min>
<cmd_offset>0.0</cmd_offset -->
</plugin>
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
<joint_name>engine_visual_joint</joint_name>
<sub_topic>servo_3</sub_topic>
<sub_topic>servo_1</sub_topic>
<p_gain>10.0</p_gain>
<!-- use_actuator_msg>false</use_actuator_msg>
<initial_velocity>0</initial_velocity>
Expand Down
25 changes: 12 additions & 13 deletions models/rc_cessna/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -567,8 +567,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -587,8 +587,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -607,8 +607,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -627,8 +627,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -647,9 +647,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -668,8 +667,8 @@
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand Down
13 changes: 6 additions & 7 deletions models/standard_vtol/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -598,8 +598,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -618,8 +618,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -638,9 +638,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand Down
15 changes: 15 additions & 0 deletions models/tiltrotor/model.config
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>tiltrotor</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf>

<author>
<name>Pernilla Wikström</name>
<email>[email protected]</email>
</author>

<description>
This is a model for a quad-tiltrotor with motors in x configuration.
</description>
</model>
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