Added support for spacecraft thrusters (gazebosim#2431)

Adds support for Spacecraft thrusters controlled with a duty cycle signal (such as PWM). --------- Signed-off-by: Pedro Roque <[email protected]> Signed-off-by: Benjamin Perseghetti <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Benjamin Perseghetti <[email protected]>
rudislabs · Jul 19, 2024 · d8eddd4 · d8eddd4
1 parent f507ef2
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diff --git a/examples/worlds/ground_spacecraft_testbed.sdf b/examples/worlds/ground_spacecraft_testbed.sdf
@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<!--
+  Spacecraft thruster plugin demo
+
+  Send commands to a single thruster:
+
+      gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
+-->
+<sdf version="1.6">
+  <world name="ground_testbed">
+    <gravity>0 0 -9.8066</gravity>
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.gazebosim.org/1.0/proque/models/kth_freeflyer</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/examples/worlds/spacecraft.sdf b/examples/worlds/spacecraft.sdf
@@ -0,0 +1,51 @@
+<?xml version="1.0" ?>
+<!--
+  Spacecraft thruster plugin demo
+
+  Send commands to a single thruster:
+
+      gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
+-->
+<sdf version="1.6">
+  <world name="zero_g">
+    <gravity>0 0 0</gravity>
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.gazebosim.org/1.0/proque/models/dart/7</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt
@@ -152,6 +152,7 @@ add_subdirectory(rf_comms)
 add_subdirectory(scene_broadcaster)
 add_subdirectory(sensors)
 add_subdirectory(shader_param)
+add_subdirectory(spacecraft_thruster_model)
 add_subdirectory(thermal)
 add_subdirectory(thruster)
 add_subdirectory(touch_plugin)

diff --git a/src/systems/spacecraft_thruster_model/CMakeLists.txt b/src/systems/spacecraft_thruster_model/CMakeLists.txt
@@ -0,0 +1,6 @@
+gz_add_system(spacecraft-thruster-model
+  SOURCES
+  SpacecraftThrusterModel.cc
+  PUBLIC_LINK_LIBS
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+)