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[hugmy] add config, launch, urdf
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sugikazu75 committed Jul 8, 2024
1 parent 5f8b9e7 commit fce7ce4
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55 changes: 55 additions & 0 deletions robots/hugmy/config/FlightControl.yaml
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aerial_robot_control_name: aerial_robot_control/under_actuated_tilted_lqi_controller

controller:
xy:
p_gain: 5.0
i_gain: 0.05
d_gain: 3.0
limit_sum: 3
limit_p: 3
limit_i: 1.5
limit_d: 3

z:
p_gain: 5.0
i_gain: 1.25
d_gain: 5.0
limit_err_p: 1.0
limit_sum: 10 # N for clamping thrust force
limit_p: 20 # m / s^2
limit_i: 40 # m / s^2
limit_d: 20 # m / s^2
landing_err_z: -0.2
force_landing_descending_rate: -0.6
compensate_gravity: true

yaw:
limit_sum: 6.0 # N for clamping thrust force
limit_p: 4.0
limit_i: 4.0
limit_d: 4.0
limit_err_p: 0.4
need_d_control: false

# LQI gain generator
lqi:
gain_generate_rate: 15.0
gyro_moment_compensation: true
clamp_gain: true

roll_pitch_p: 20
roll_pitch_i: 0.5
roll_pitch_d: 0.15

yaw_p: 50 #50
yaw_i: 0.5
yaw_d: 2.0 #1.0

r1: 1.0
r2: 1.0
r3: 1.0
r4: 1.0

trans_constraint_weight: 100
att_control_weight: 1

33 changes: 33 additions & 0 deletions robots/hugmy/config/NavigationConfig.yaml
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# Teleop Basic Param

navigation:
xy_control_mode: 0
# World Pos Control Mode: 0
# World Vel Control Mode: 2
# Local Vel Control Mode: 3
# Attitude Control Mode: 4


takeoff_height: 0.8 #1.0
outdoor_takeoff_height: 1.5

# teleop operation
max_target_vel: 0.5
joy_target_vel_interval: 0.005 # 0.2 / 20 = 0.01, 0.005 ~ 0.01 m/s
joy_target_z_interval: 0.02
max_target_yaw_rate: 0.1 # 0.05
teleop_local_frame: fc

cmd_vel_lev2_gain : 2.0
nav_vel_limit : 1.0

gain_tunning_mode: 0
max_target_tilt_angle: 0.2
cmd_angle_lev2_gain : 1.5

# gps waypoint
gps_waypoint_threshold: 3.0
gps_waypoint_check_du: 1.0

#landing
land_check_duration: 0.1
11 changes: 11 additions & 0 deletions robots/hugmy/config/RobotModel.yaml
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# robot model plugin
robot_model_plugin_name: multirotor_robot_model

wrench_mat_det_thre: 0

# feasible control configuration
fc_t_min_thre: 0.01
fc_rp_min_thre: 1.8
rp_position_margin_thre: 0.13 # deprecated


9 changes: 9 additions & 0 deletions robots/hugmy/config/RvizInit.yaml
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zeros:
rotor1: 0
rotor2: 0
rotor3: 0
rotor4: 0
rotor5: 0
rotor6: 0
rotor7: 0
rotor8: 0
28 changes: 28 additions & 0 deletions robots/hugmy/config/Simulation.yaml
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# overwrite parameter for simulation

sensor_plugin:
mocap:
ground_truth_sub_name: ground_truth
gps:
estimate_mode: 4 #1 << 2
ned_flag: true # hector_gazebo_plugins/GPS

# ground truth parameter
# global namespace
simulation:
# gaussian noise
ground_truth_pos_noise: 0.001
ground_truth_vel_noise: 0.005
ground_truth_rot_noise: 0.001
ground_truth_angular_noise: 0.005

# drift model: e^(-dt * drift_frequency) * curr_drift + dt * gaussian_kernel(sqrt( 2 * drift_frequency) * drfit))
# drift diviation:
ground_truth_vel_drift: 0
ground_truth_rot_drift: 0
ground_truth_angular_drift: 0

# drift frequency:
ground_truth_vel_drift_frequency: 0
ground_truth_rot_drift_frequency: 0
ground_truth_angular_drift_frequency: 0
47 changes: 47 additions & 0 deletions robots/hugmy/config/StateEstimation.yaml
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# Sensor Fuser Loader
estimation:
# sensor plugin
sensor_list:
- sensor_plugin/imu
- sensor_plugin/mocap

# egomotion estimation
egomotion_list:
- kalman_filter/kf_pos_vel_acc
- kalman_filter/kf_pos_vel_acc
- kalman_filter/kf_pos_vel_acc

# experiment estimation
experiment_list:
- kalman_filter/kf_pos_vel_acc
- kalman_filter/kf_pos_vel_acc
- kalman_filter/kf_pos_vel_acc

# specific id(int) of sensor fuser, axis for kf
fuser_egomotion_id1: 8 # 1 << 3
fuser_egomotion_id2: 16 # 1 << 4
fuser_egomotion_id3: 32 # 1 << 5

fuser_experiment_id1: 8 # 1 << 3
fuser_experiment_id2: 16 # 1 << 4
fuser_experiment_id3: 32 # 1 << 5

# specific name of sensor fuser
fuser_egomotion_name1: /ee/x
fuser_egomotion_name2: /ee/y
fuser_egomotion_name3: /ee/z

fuser_experiment_name1: /ex/x
fuser_experiment_name2: /ex/y
fuser_experiment_name3: /ex/z


# EGOMOTION_ESTIMATION_MODE = 0
# EXPERIMENT_MODE = 1
# GROUND_TRUTH_MODE = 2

sensor_plugin:
imu:
estimate_mode: 3 # 1<<0 + 1<<1
mocap:
estimate_mode: 6 # 1<<1 + 1<<2
7 changes: 7 additions & 0 deletions robots/hugmy/config/coral.yaml
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edgetpu_node_manager:
nodes:
- name: edgetpu_panorama_object_detector
type: panorama_object_detector
- name: edgetpu_human_pose_estimator
type: human_pose_estimator
default: edgetpu_panorama_object_detector
5 changes: 5 additions & 0 deletions robots/hugmy/config/default_model/Battery.yaml
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bat_info:
bat_cell: 3
bat_resistance: 0.04 # [m Ohm]
hovering_current: 15 #[A]
low_voltage_thre: 10 #[100%]
24 changes: 24 additions & 0 deletions robots/hugmy/config/default_model/MotorInfo.yaml
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motor_info: # TODO: update
min_pwm: 0.6 # 1200 [ms]
max_pwm: 0.975 # 1950 [ms]
min_thrust: 0 # [N]
force_landing_thrust: 1.0 #[N]
pwm_conversion_mode: 1 # Polynominal Mode
vel_ref_num: 2
ref1:
voltage: 11
max_thrust: 7.2 # N
polynominal4: -168.952346 # -0.0168952346 x10^4
polynominal3: 308.7473666 # 0.3087473666 x10^3
polynominal2: -203.28702334 # -2.0328702334 x10^2
polynominal1: 106.787265636 # 10.6787265636 x10
polynominal0: 56.3518258750 # 56.3518258750 x1
ref2:
voltage: 12
max_thrust: 8.0 # N
polynominal4: -39.838825 # -0.0039838825 x10^4
polynominal3: 112.1897517 # 0.1121897517 x10^3
polynominal2: -101.84075291 # -1.0184075291 x10^2
polynominal1: 81.582961230 # 8.1582961230 x10
polynominal0: 56.9010618089 # 56.9010618089 x1

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