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<?xml version='1.0'?> | |
<sdf version='1.4'> | |
<model name='sjtu_drone'> | |
<plugin name='simple_drone' filename='libplugin_drone.so'> | |
<bodyName>base_link</bodyName> | |
<imuTopic>/drone/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> | |
<!-- pose of the quadrotor in the world frame --> | |
<pose>0 0 0.04 0 0 0</pose> | |
<link name='base_link'> | |
<inertial> | |
<mass>1.477</mass> | |
<pose>0 0 0 0 0 0</pose> | |
<inertia> | |
<ixx>0.1152</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>0.1152</iyy> | |
<iyz>0</iyz> | |
<izz>0.218</izz> | |
</inertia> | |
</inertial> | |
<visual name='visual'> | |
<geometry> | |
<mesh><uri>file://models/sjtu_drone/quadrotor_4.dae</uri></mesh> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<geometry> | |
<mesh><uri>file://models/sjtu_drone/quadrotor_4.dae</uri></mesh> | |
</geometry> | |
</collision> | |
<gravity>1</gravity> | |
<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> | |
</link> | |
<model name="realsense_camera"> | |
<!-- <plugin name="realsense_plugin" filename="librealsense_gazebo_plugin.so"/> --> | |
<plugin name="realsense_camera" filename="librealsense_gazebo_plugin.so"> | |
<!-- <prefix>realsense_camera</prefix> --> | |
<depthUpdateRate>60.0</depthUpdateRate> | |
<colorUpdateRate>60.0</colorUpdateRate> | |
<infraredUpdateRate>60.0</infraredUpdateRate> | |
<depthTopicName>depth/color/image_raw</depthTopicName> | |
<depthCameraInfoTopicName>depth/color/camera_info</depthCameraInfoTopicName> | |
<colorTopicName>color/image_raw</colorTopicName> | |
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName> | |
<infrared1TopicName>infra1/image_raw</infrared1TopicName> | |
<infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName> | |
<infrared2TopicName>infra2/image_raw</infrared2TopicName> | |
<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName> | |
<!-- <colorOpticalframeName>${color_optical_frame}</colorOpticalframeName> | |
<depthOpticalframeName>${depth_optical_frame}</depthOpticalframeName> | |
<infrared1OpticalframeName>${infrared1_optical_frame}</infrared1OpticalframeName> | |
<infrared2OpticalframeName>${infrared2_optical_frame}</infrared2OpticalframeName> --> | |
<rangeMinDepth>0.5</rangeMinDepth> | |
<rangeMaxDepth>10.0</rangeMaxDepth> | |
<pointCloud>true</pointCloud> | |
<pointCloudTopicName>depth/color/points</pointCloudTopicName> | |
<pointCloudCutoff>0.25</pointCloudCutoff> | |
<pointCloudCutoffMax>9.0</pointCloudCutoffMax> | |
</plugin> | |
<pose frame="">0 0 0.0 0 0 0</pose> | |
<link name="link"> | |
<inertial> | |
<mass>0.0615752</mass> | |
<inertia> | |
<ixx>9.108e-05</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>2.51e-06</iyy> | |
<iyz>0</iyz> | |
<izz>8.931e-05</izz> | |
</inertia> | |
<pose frame=''>0 0 0 0 0 0</pose> | |
</inertial> | |
<self_collide>0</self_collide> | |
<enable_wind>0</enable_wind> | |
<kinematic>0</kinematic> | |
<gravity>1</gravity> | |
<visual name="visual"> | |
<geometry> | |
<mesh> | |
<uri>model://realsense_camera/meshes/realsense.dae</uri> | |
</mesh> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<laser_retro>0</laser_retro> | |
<max_contacts>10</max_contacts> | |
<pose frame=''>0 0 0 0 -0 0</pose> | |
<geometry> | |
<box> | |
<size>0.0078 0.130 0.0192</size> | |
</box> | |
</geometry> | |
<surface> | |
<friction> | |
<ode> | |
<mu>1</mu> | |
<mu2>1</mu2> | |
<fdir1>0 0 0</fdir1> | |
<slip1>0</slip1> | |
<slip2>0</slip2> | |
</ode> | |
<torsional> | |
<coefficient>1</coefficient> | |
<patch_radius>0</patch_radius> | |
<surface_radius>0</surface_radius> | |
<use_patch_radius>1</use_patch_radius> | |
<ode> | |
<slip>0</slip> | |
</ode> | |
</torsional> | |
</friction> | |
<bounce> | |
<restitution_coefficient>0</restitution_coefficient> | |
<threshold>1e+06</threshold> | |
</bounce> | |
<contact> | |
<collide_without_contact>0</collide_without_contact> | |
<collide_without_contact_bitmask>1</collide_without_contact_bitmask> | |
<collide_bitmask>1</collide_bitmask> | |
<ode> | |
<soft_cfm>0</soft_cfm> | |
<soft_erp>0.2</soft_erp> | |
<kp>1e+13</kp> | |
<kd>1</kd> | |
<max_vel>0.01</max_vel> | |
<min_depth>0</min_depth> | |
</ode> | |
<bullet> | |
<split_impulse>1</split_impulse> | |
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> | |
<soft_cfm>0</soft_cfm> | |
<soft_erp>0.2</soft_erp> | |
<kp>1e+13</kp> | |
<kd>1</kd> | |
</bullet> | |
</contact> | |
</surface> | |
</collision> | |
<sensor name="color" type="camera"> | |
<pose frame="">0 -0.046 0.004 0 0 0</pose> | |
<camera name="__default__"> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>640</width> | |
<height>480</height> | |
<format>RGB_INT8</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0.0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>60</update_rate> | |
<visualize>1</visualize> | |
</sensor> | |
<sensor name="ired1" type="camera"> | |
<pose frame="">0 -0.06 0.004 0 0 0</pose> | |
<camera name="__default__"> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>640</width> | |
<height>480</height> | |
<format>L_INT8</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0.0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>60</update_rate> | |
<visualize>0</visualize> | |
</sensor> | |
<sensor name="ired2" type="camera"> | |
<pose frame="">0 0.01 0.004 0 0 0</pose> | |
<camera name="__default__"> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>640</width> | |
<height>480</height> | |
<format>L_INT8</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0.0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>60</update_rate> | |
<visualize>0</visualize> | |
</sensor> | |
<sensor name="depth" type="depth"> | |
<pose frame="">0 -0.03 0.004 0 0 0</pose> | |
<camera name="__default__"> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>640</width> | |
<height>480</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
<noise> | |
<type>gaussian</type> | |
<mean>0.0</mean> | |
<stddev>0.007</stddev> | |
</noise> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>60</update_rate> | |
<visualize>0</visualize> | |
</sensor> | |
</link> | |
</model> | |
<joint name="joint_00" type="revolute"> | |
<child>realsense_camera::link</child> | |
<parent>sjtu_drone::base_link</parent> | |
<axis> | |
<xyz>0 0 0.2</xyz> | |
<limit> | |
<upper>0</upper> | |
<lower>0</lower> | |
</limit> | |
</axis> | |
</joint> | |
</model> | |
</sdf> |
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