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Fixed uuv_bluerov2_heavy SDF model, adding jinja for multi vehicle simulations #1042

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merged 3 commits into from
Jun 4, 2024
Merged

Fixed uuv_bluerov2_heavy SDF model, adding jinja for multi vehicle simulations #1042

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2cdb572
Adding IMU link and joint to uuv_bluerov2_heavy
matteodelseppia May 30, 2024
62d8f77
Adding uuv_bluerov2_heavy.sdf.jinja for multi vehicle UUV simulations
matteodelseppia May 30, 2024
e8b1e0f
Delete models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf
matteodelseppia May 30, 2024
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99 changes: 70 additions & 29 deletions ...uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf → ...uerov2_heavy/uuv_bluerov2_heavy.sdf.jinja
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version='1.0'?>
<sdf version='1.6'>
<model name="BlueROV2 Heavy">
<model name="uuv_bluerov2_heavy">
<pose>0 0 0 0 0 0</pose>

<link name="base_link">
Expand Down Expand Up @@ -30,22 +30,59 @@
</visual>

</link>


<!-- IMU Link & Joint -->
<link name='uuv_bluerov2_heavy/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>

<!-- GPS for getting the local pose -->
<include>
<uri>model://gps</uri>
<pose>0 0 0 0 0 0</pose>
<name>gps</name>
</include>
<joint name='gps_joint' type='fixed'>
<parent>base_link</parent>
<child>gps::link</child>
</joint>

<joint name='uuv_bluerov2_heavy/imu_joint' type='revolute'>
<child>uuv_bluerov2_heavy/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>


<!-- GPS -->
<include>
<uri>model://gps</uri>
<pose>0 0 0 0 0 0</pose>
<name>gps</name>
</include>
<joint name='gps_joint' type='fixed'>
<parent>base_link</parent>
<child>gps::link</child>
</joint>


<!-- Start of Thrusters -->
<!-- Start of Thrusters -->
<link name="thruster1">
<pose>0.14 -0.10 0 0 1.570796 0.78539815</pose>
<inertial>
Expand Down Expand Up @@ -526,18 +563,22 @@
<motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>0.025</rotorVelocitySlowdownSim>
</plugin>

<plugin name="magnetometer_plugin" filename="libgazebo_magnetometer_plugin.so">
<robotNamespace />
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>

<plugin name="barometer_plugin" filename="libgazebo_barometer_plugin.so">
<robotNamespace />

<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>

<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
</plugin>
Expand All @@ -564,20 +605,20 @@
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_udp_port>14560</mavlink_udp_port>
<mavlink_tcp_port>4560</mavlink_tcp_port>
<serialEnabled>0</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
<mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
<serialEnabled>{{ serial_enabled }}</serialEnabled>
<serialDevice>{{ serial_device }}</serialDevice>
<baudRate>{{ serial_baudrate }}</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>false</hil_mode>
<hil_mode>{{ hil_mode }}</hil_mode>
<hil_state_level>false</hil_state_level>
<vehicle_is_tailsitter>false</vehicle_is_tailsitter>
<send_vision_estimation>0</send_vision_estimation>
<send_odometry>0</send_odometry>
<send_odometry>1</send_odometry>
<enable_lockstep>true</enable_lockstep>
<use_tcp>true</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
Expand Down Expand Up @@ -658,10 +699,10 @@
</channel>
</control_channels>
</plugin>

<plugin name="gazebo_imu_plugin" filename="libgazebo_imu_plugin.so">
<robotNamespace />
<linkName>base_link</linkName>
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace/>
<linkName>uuv_bluerov2_heavy/imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
Expand Down
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