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Port #102 to ros2 #124

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merged 1 commit into from
Nov 4, 2024
Merged

Port #102 to ros2 #124

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21 changes: 11 additions & 10 deletions config/gazebo-iris-gimbal.parm
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,18 @@
FRAME_CLASS 1
FRAME_TYPE 1

# IRLOCK FEATURE
RC8_OPTION 39
PLND_ENABLED 1
PLND_TYPE 3
# Match servo out for motors
MOT_PWM_MIN 1100
MOT_PWM_MAX 1900

# SONAR FOR IRLOCK
SIM_SONAR_SCALE 10
RNGFND1_TYPE 1
RNGFND1_SCALING 10
RNGFND1_PIN 0
RNGFND1_MAX_CM 5000
# Gimbal on mount 1 has 3 DOF
MNT1_TYPE 1 # Servo
MNT1_PITCH_MAX 45
MNT1_PITCH_MIN -135
MNT1_ROLL_MAX 30
MNT1_ROLL_MIN -30
MNT1_YAW_MAX 160
MNT1_YAW_MIN -160

# Gimbal RC in
RC6_MAX 1900
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6 changes: 3 additions & 3 deletions models/gimbal_small_1d/model.sdf
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Expand Up @@ -140,11 +140,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0 0 0.02 0 0 0</pose>
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12 changes: 6 additions & 6 deletions models/gimbal_small_2d/model.sdf
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Expand Up @@ -76,11 +76,11 @@
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.01 0 -0.04 0 0 0</pose>
Expand Down Expand Up @@ -176,11 +176,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0 0 0.02 0 0 0</pose>
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42 changes: 21 additions & 21 deletions models/gimbal_small_3d/model.sdf
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<sdf version="1.9">
<model name="gimbal_small_3d">
<pose>0 0 0.18 0 0 0</pose>
<link name="base_link">
<!-- <pose>0 0 0.18 0 0 0</pose> -->
<link name="gimbal_link">
<inertial>
<mass>0.2</mass>
<inertia>
Expand All @@ -14,10 +14,10 @@
<izz>0.0001</izz>
</inertia>
</inertial>
<visual name="base_visual">
<visual name="gimbal_visual">
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/base_plate.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/base_plate.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -26,7 +26,7 @@
<specular>0.01 0.01 0.01 1.0</specular>
</material>
</visual>
<collision name="base_collision">
<collision name="gimbal_collision">
<pose>0.01 0.075 -0.025 0 0 0</pose>
<geometry>
<box>
Expand All @@ -51,7 +51,7 @@
<visual name="yaw_visual">
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/yaw_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/yaw_arm.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -63,22 +63,22 @@
<collision name="yaw_collision">
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/yaw_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/yaw_arm.dae</uri>
</mesh>
</geometry>
</collision>
</link>
<joint name="yaw_joint" type="revolute">
<parent>base_link</parent>
<parent>gimbal_link</parent>
<child>yaw_link</child>
<axis>
<xyz>0 1 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.0105 0.065 -0.002 0 0 0</pose>
Expand All @@ -99,7 +99,7 @@
<visual name="roll_visual">
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/roll_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/roll_arm.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -111,7 +111,7 @@
<collision name="roll_collision">
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/roll_arm.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/roll_arm.dae</uri>
</mesh>
</geometry>
</collision>
Expand All @@ -122,11 +122,11 @@
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.0099 0.002 -0.05 0 0 0</pose>
Expand All @@ -148,7 +148,7 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/camera_enclosure.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/camera_enclosure.dae</uri>
</mesh>
</geometry>
<material>
Expand All @@ -161,7 +161,7 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://gimbal_small_3d/meshes/camera_enclosure.dae</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d/meshes/camera_enclosure.dae</uri>
</mesh>
</geometry>
</collision>
Expand Down Expand Up @@ -227,11 +227,11 @@
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0.5</damping>
<damping>0.01</damping>
</dynamics>
<limit>
<lower>-1.57079632</lower>
<upper>1.57079632</upper>
<lower>-3.1415926</lower>
<upper>3.1415926</upper>
</limit>
</axis>
<pose>0.045 0.0021 0.0199 0 0 0</pose>
Expand Down
73 changes: 47 additions & 26 deletions models/iris_with_gimbal/model.sdf
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Expand Up @@ -7,9 +7,9 @@
</include>

<include merge="true">
<uri>package://ardupilot_gazebo/models/gimbal_small_2d</uri>
<uri>package://ardupilot_gazebo/models/gimbal_small_3d</uri>
<name>gimbal</name>
<pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>
<pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>
</include>

<joint name="gimbal_joint" type="revolute">
Expand Down Expand Up @@ -194,21 +194,6 @@
<joint_name>rotor_3_joint</joint_name>
</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>roll_joint</joint_name>
<topic>/gimbal/cmd_roll</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>tilt_joint</joint_name>
<topic>/gimbal/cmd_tilt</topic>
<p_gain>2</p_gain>
</plugin>

<plugin filename="gz-sim-linearbatteryplugin-system"
name="gz::sim::systems::LinearBatteryPlugin">
<battery_name>lipo_3500mAh</battery_name>
Expand All @@ -224,6 +209,7 @@

<plugin name="ArduPilotPlugin"
filename="ArduPilotPlugin">
<!-- Port settings -->
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
Expand All @@ -238,7 +224,6 @@
<!-- Sensors -->
<imuName>imu_link::imu_sensor</imuName>

<!-- Control channels -->
<!--
incoming control command [0, 1]
so offset it by 0 to get [0, 1]
Expand Down Expand Up @@ -318,29 +303,65 @@
<controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
</control>

<control channel="4">
<!-- roll range is -30 to +30 deg -->
<control channel="8">
<jointName>roll_joint</jointName>
<multiplier>3.14159265</multiplier>
<multiplier>1.047197551196</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_roll</cmd_topic>
<p_gain>3</p_gain>
<p_gain>2</p_gain>
</control>

<!-- pitch range is -135 to +45 deg -->
<control channel="9">
<jointName>pitch_joint</jointName>
<multiplier>-3.14159265</multiplier>
<offset>-0.75</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_pitch</cmd_topic>
<p_gain>2</p_gain>
</control>

<control channel="5">
<jointName>tilt_joint</jointName>
<multiplier>3.14159265</multiplier>
<!-- yaw range is -160 to +160 deg -->
<control channel="10">
<jointName>yaw_joint</jointName>
<multiplier>-5.5850536</multiplier>
<offset>-0.5</offset>
<servo_min>1100</servo_min>
<servo_max>1900</servo_max>
<type>COMMAND</type>
<cmd_topic>/gimbal/cmd_tilt</cmd_topic>
<p_gain>3</p_gain>
<cmd_topic>/gimbal/cmd_yaw</cmd_topic>
<p_gain>2</p_gain>
</control>

</plugin>

<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>roll_joint</joint_name>
<topic>/gimbal/cmd_roll</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>pitch_joint</joint_name>
<topic>/gimbal/cmd_pitch</topic>
<p_gain>2</p_gain>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>yaw_joint</joint_name>
<topic>/gimbal/cmd_yaw</topic>
<p_gain>2</p_gain>
</plugin>

</model>
</sdf>
2 changes: 1 addition & 1 deletion worlds/iris_runway.sdf
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Expand Up @@ -116,7 +116,7 @@
</include>

<include>
<uri>model://iris_with_ardupilot</uri>
<uri>model://iris_with_gimbal</uri>
<pose degrees="true">0 0 0.195 0 0 90</pose>
</include>

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2 changes: 1 addition & 1 deletion worlds/iris_warehouse.sdf
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Expand Up @@ -250,7 +250,7 @@

<include>
<pose>-6 0 0.25 0 0 0</pose>
<uri>model://iris_with_ardupilot</uri>
<uri>model://iris_with_gimbal</uri>
</include>

<include>
Expand Down
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