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ardrone_gazebo.urdf
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<?xml version="1.0" ?>
<robot name="ardrone_gazebo">
<link name="base_link">
<inertial>
<mass value="1.477"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.1152" ixy="0" ixz="0" iyy="0.1152" iyz="0" izz="0.218"/>
</inertial>
<collision name="ardrone_gazebo__collision">
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<mesh filename="package://ardrone_gazebo/meshes/ardrone_gazebo.stl"/>
</geometry>
</collision>
<visual name="ardrone_gazebo__visual">
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<geometry>
<mesh filename="package://ardrone_gazebo/meshes/ardrone_gazebo.dae"/>
</geometry>
</visual>
</link>
<gazebo>
<plugin name='ardrone_gazebo' filename='libardrone_plugin.so'>
<bodyName>base_link</bodyName>
<imuTopic>/ardrone/imu</imuTopic>
<rollpitchProportionalGain>10.0</rollpitchProportionalGain>
<rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
<rollpitchLimit>0.5</rollpitchLimit>
<yawProportionalGain>2.0</yawProportionalGain>
<yawDifferentialGain>1.0</yawDifferentialGain>
<yawLimit>1.5</yawLimit>
<velocityXYProportionalGain>5.0</velocityXYProportionalGain>
<velocityXYDifferentialGain>2.3</velocityXYDifferentialGain>
<velocityXYLimit>2</velocityXYLimit>
<velocityZProportionalGain>5.0</velocityZProportionalGain>
<velocityZDifferentialGain>1.0</velocityZDifferentialGain>
<velocityZLimit>-1</velocityZLimit>
<positionXYProportionalGain>1.1</positionXYProportionalGain>
<positionXYDifferentialGain>0.0</positionXYDifferentialGain>
<positionXYIntegralGain>0.0</positionXYIntegralGain>
<positionXYLimit>5</positionXYLimit>
<positionZProportionalGain>1.0</positionZProportionalGain>
<positionZDifferentialGain>0.2</positionZDifferentialGain>
<positionZLimit>-1</positionZLimit>
<maxForce>30</maxForce>
<motionSmallNoise>0.05</motionSmallNoise>
<motionDriftNoise>0.03</motionDriftNoise>
<motionDriftNoiseTime>5.0</motionDriftNoiseTime>
</plugin>
</gazebo>
<!-- Sensors -->
<gazebo>
<sensor name='sensor_imu' type='imu'>
<always_on> 1 </always_on>
<update_rate> 100 </update_rate>
<pose> 0 0 0 0 0 0 </pose>
<plugin name='ros_imu' filename='libplugin_ros_imu.so'>
</plugin>
<imu>
<noise>
<type>gaussian</type>
<rate>
<mean> 0 </mean>
<stddev> 0 </stddev>
</rate>
<accel>
<mean> 0 </mean>
<stddev> 0.00 </stddev>
</accel>
</noise>
</imu>
</sensor>
<!-- Sonar sensor in 100fps -->
<sensor name='sensor_sonar' type='sonar'>
<always_on>1</always_on>
<visualize>0</visualize>
<update_rate>100</update_rate>
<pose> 0.5 0 0.3 0 1.570796327 3.141592653 </pose>
<plugin name='ros_sonar' filename='libplugin_ros_sonar.so'>
</plugin>
<sonar>
<min>0</min>
<max>5</max>
<radius>1.33974596</radius>
</sonar>
</sensor>
<!-- front camera -->
<sensor name="front_camera" type="camera">
<camera>
<horizontal_fov>1.5</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</camera>
<pose> 0.2 0.0 0.0 0 0 0 </pose>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>true</visualize>
<plugin name='front_camera' filename='libplugin_ros_cam.so'>
<!--
I remvoed the /ardrone part here.
<imageTopicName>/ardrone/front_camera/image_raw</imageTopicName>
-->
<imageTopicName>/front_camera/image_raw</imageTopicName>
</plugin>
</sensor>
<!-- downward looking camera -->
<sensor name="down_camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>360</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</camera>
<pose> 0.0 0.0 0.0 0 1.570796326794897 0 </pose>
<always_on>1</always_on>
<update_rate>15</update_rate>
<visualize>true</visualize>
<plugin name='down_camera' filename='libplugin_ros_cam.so'>
<!--
I remvoed the /ardrone part here.
<imageTopicName>/ardrone/down_camera/image_raw</imageTopicName>
-->
<imageTopicName>/down_camera/image_raw</imageTopicName>
</plugin>
</sensor>
</gazebo>
</robot>