Hector quadrotor Gazebo model

quadrotor.gazebo.sdf

<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from src/hector_quadrotor/hector_quadrotor_description/urdf/quadrotor.gazebo.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
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<robot name="quadrotor" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_link">
    <inertial>
      <mass value="1.477"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_quadrotor_description/meshes/quadrotor/quadrotor_base.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_quadrotor_description/meshes/quadrotor/quadrotor_base.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="sonar_joint" type="fixed">
    <origin rpy="0 1.57079632679 0" xyz="-0.16 0.0 -0.012"/>
    <parent link="base_link"/>
    <child link="sonar_link"/>
  </joint>
  <link name="sonar_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0" izz="0.000000017"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <!--<box size="0.01 0.01 0.01" /> -->
        <mesh filename="package://hector_sensors_description/meshes/sonar_sensor/max_sonar_ez4.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="sonar_link">
    <sensor name="sonar" type="ray">
      <always_on>true</always_on>
      <update_rate>10</update_rate>
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <ray>
        <scan>
          <horizontal>
            <samples>3</samples>
            <resolution>1</resolution>
            <min_angle>-0.349065850399</min_angle>
            <max_angle> 0.349065850399</max_angle>
          </horizontal>
          <vertical>
            <samples>3</samples>
            <resolution>1</resolution>
            <min_angle>-0.349065850399</min_angle>
            <max_angle> 0.349065850399</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.03</min>
          <max>3.0</max>
          <resolution>0.01</resolution>
        </range>
      </ray>
      <plugin filename="libhector_gazebo_ros_sonar.so" name="gazebo_ros_sonar_controller">
        <gaussianNoise>0.005</gaussianNoise>
        <topicName>sonar_height</topicName>
        <frameId>sonar_link</frameId>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo>
    <plugin filename="libhector_gazebo_ros_imu.so" name="quadrotor_imu_sim">
      <updateRate>100.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <topicName>raw_imu</topicName>
      <rpyOffset>0 0 0</rpyOffset>
      <!-- deprecated -->
      <gaussianNoise>0</gaussianNoise>
      <!-- deprecated -->
      <accelDrift>0.5 0.5 0.5</accelDrift>
      <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
      <rateDrift>0.1 0.1 0.1</rateDrift>
      <rateGaussianNoise>0.05 0.05 0.015</rateGaussianNoise>
    </plugin>
    <plugin filename="libhector_gazebo_ros_baro.so" name="quadrotor_baro_sim">
      <updateRate>10.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <topicName>pressure_height</topicName>
      <altimeterTopicName>altimeter</altimeterTopicName>
      <offset>0</offset>
      <drift>10.0</drift>
      <gaussianNoise>0.1</gaussianNoise>
    </plugin>
    <plugin filename="libhector_gazebo_ros_magnetic.so" name="quadrotor_magnetic_sim">
      <updateRate>10.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <topicName>magnetic</topicName>
      <offset>0 0 0</offset>
      <drift>0.0 0.0 0.0</drift>
      <gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
    </plugin>
    <plugin filename="libhector_gazebo_ros_gps.so" name="quadrotor_gps_sim">
      <updateRate>4.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <topicName>fix</topicName>
      <velocityTopicName>fix_velocity</velocityTopicName>
      <referenceLatitude>49.860246</referenceLatitude>
      <referenceLongitude>8.687077</referenceLongitude>
      <drift>5.0 5.0 5.0</drift>
      <gaussianNoise>0.01 0.01 0.01</gaussianNoise>
      <velocityDrift>0 0 0</velocityDrift>
      <velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>
    </plugin>
    <plugin filename="libgazebo_ros_p3d.so" name="quadrotor_groundtruth_sim">
      <updateRate>100.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>ground_truth/state</topicName>
      <gaussianNoise>0.0</gaussianNoise>
      <frameName>world</frameName>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="quadrotor_controller">
      <controlPeriod>0.01</controlPeriod>
      <robotSimType>hector_quadrotor_controller_gazebo/QuadrotorHardwareSim</robotSimType>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libhector_gazebo_quadrotor_propulsion.so" name="quadrotor_propulsion">
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
      <controlRate>100.0</controlRate>
      <!-- <controlTolerance>0.01</controlTolerance> -->
      <controlDelay>0.01</controlDelay>
      <motorStatusRate>100.0</motorStatusRate>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libhector_gazebo_quadrotor_aerodynamics.so" name="quadrotor_aerodynamics">
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <bodyName>base_link</bodyName>
      <frameId>base_link</frameId>
    </plugin>
  </gazebo>
</robot>