Commit 58b61d68 authored by Nicolae Rosia's avatar Nicolae Rosia Committed by Lorenz Meier
Browse files

This file is generated.


Signed-off-by: default avatarNicolae Rosia <nicolae.rosia@gmail.com>
parent 05976a63
<sdf version='1.5'>
<model name='iris'>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1.5</mass>
<inertia>
<ixx>0.0347563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0458929</iyy>
<iyz>0</iyz>
<izz>0.0977</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='iris/imu_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='iris/imu_joint' type='revolute'>
<child>iris/imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_0'>
<pose>0.13 -0.22 0.023 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_0_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_1'>
<pose>-0.13 0.2 0.023 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_1_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_2'>
<pose>0.13 0.22 0.023 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_2_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_3'>
<pose>-0.13 -0.2 0.023 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_3_collision'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_3_visual'>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<plugin name='rosbag' filename='librotors_gazebo_multirotor_base_plugin.so'>
<robotNamespace>iris</robotNamespace>
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace>iris</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>838</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.16</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace>iris</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>838</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.16</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace>iris</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>838</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.16</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='librotors_gazebo_motor_model.so'>
<robotNamespace>iris</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>838</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.16</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='mavlink_interface' filename='librotors_gazebo_mavlink_interface.so'>
<robotNamespace>iris</robotNamespace>
<imuSubTopic>imu</imuSubTopic>
<motorSpeedCommandPubTopic>gazebo/command/motor_speed</motorSpeedCommandPubTopic>
</plugin>
<static>0</static>
<plugin name='rotors_gazebo_imu_plugin' filename='librotors_gazebo_imu_plugin.so'>
<robotNamespace>iris</robotNamespace>
<linkName>iris/imu_link</linkName>
<imuTopic>imu</imuTopic>
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
</model>
</sdf>
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment