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Model pr 428 -Improved UAV drift && Updated camera topic names #467

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merged 6 commits into from
Jun 18, 2020
Merged

Model pr 428 -Improved UAV drift && Updated camera topic names #467

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f73ea37
making qav500 fly better
dsquez Jun 15, 2020
38363bf
Merge pull request #5 from dsquez/model_pr_428
dsquez Jun 15, 2020
d9a172e
renamed certain qav500 camera topics
bfotheri Jun 17, 2020
3ec00d3
tweaking max velocities and accels
dsquez Jun 17, 2020
7401855
merged upstream osrf repo in
bfotheri Jun 17, 2020
ddbaa51
Merge branch 'dereksfork/model_pr_428' into neilsfork/model_pr_428
dsquez Jun 17, 2020
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201 changes: 101 additions & 100 deletions submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -47,104 +47,105 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<static_update_frequency>1</static_update_frequency>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin
filename="libignition-gazebo-multicopter-control-system.so"
name="ignition::gazebo::systems::MulticopterVelocityControl">
<robotNamespace>model/#{_name}</robotNamespace>
<commandSubTopic>cmd_vel</commandSubTopic>
<motorControlPubTopic>command/motor_speed</motorControlPubTopic>
<enableSubTopic>velocity_controller/enable</enableSubTopic>
<comLinkName>base_link</comLinkName>
<velocityGain>8 8 10</velocityGain>
<attitudeGain>6 6 6</attitudeGain>
<angularRateGain>2.5 2.5 4.0</angularRateGain>
<maximumLinearAcceleration>5 5 5</maximumLinearAcceleration>
<maximumLinearVelocity>4 4 4</maximumLinearVelocity>
<maximumAngularVelocity>5 5 10</maximumAngularVelocity>
<linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
<!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
<!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
<!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
<linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev>
<angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
<!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample -->
<!-- time of 0.004 ms. -->
<angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0182</timeConstantUp>
<timeConstantDown>0.0182</timeConstantDown>
<maxRotVelocity>1000.0</maxRotVelocity>
<motorConstant>1.269e-05</motorConstant>
<momentConstant>0.016754</momentConstant>
<commandSubTopic>command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
<rollingMomentCoefficient>0</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- MulticopterVelocityControl plugin -->
<plugin
filename="libignition-gazebo-multicopter-control-system.so"
name="ignition::gazebo::systems::MulticopterVelocityControl">
<robotNamespace>model/#{_name}</robotNamespace>
<commandSubTopic>cmd_vel</commandSubTopic>
<motorControlPubTopic>command/motor_speed</motorControlPubTopic>
<enableSubTopic>velocity_controller/enable</enableSubTopic>
<comLinkName>base_link</comLinkName>
<velocityGain>8 8 10</velocityGain>
<attitudeGain>6 6 6</attitudeGain>
<angularRateGain>2.5 2.5 4.0</angularRateGain>
<maximumLinearAcceleration>5 5 3</maximumLinearAcceleration>
<maximumLinearVelocity>10 10 5</maximumLinearVelocity>
<maximumAngularVelocity>3 3 6</maximumAngularVelocity>
<linearVelocityNoiseMean>0 0 0</linearVelocityNoiseMean>
<!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
<!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor -->
<!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
<linearVelocityNoiseStdDev>0.1105 0.1261 0.0947</linearVelocityNoiseStdDev>
<angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
<!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a sample -->
<!-- time of 0.004 ms. -->
<angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>

<rotorConfiguration>
<rotor>
Expand All @@ -157,13 +158,13 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<jointName>rotor_1_joint</jointName>
<forceConstant>1.269e-05</forceConstant>
<momentConstant>1.6754e-2</momentConstant>
<direction>-1</direction>
<direction>1</direction>
</rotor>
<rotor>
<jointName>rotor_2_joint</jointName>
<forceConstant>1.269e-05</forceConstant>
<momentConstant>1.6754e-2</momentConstant>
<direction>1</direction>
<direction>-1</direction>
</rotor>
<rotor>
<jointName>rotor_3_joint</jointName>
Expand Down
4 changes: 2 additions & 2 deletions submitted_models/marble_qav500_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@
type="image_bridge"
name="ros_ign_image_tof_top"
args="$(arg sensor_prefix)/tof_top/depth_image">
<remap from="$(arg sensor_prefix)/tof_top/depth_image" to="top/depth"/>
<remap from="$(arg sensor_prefix)/tof_top/depth_image" to="tof_top/depth"/>
</node>
</group>

Expand All @@ -120,7 +120,7 @@
type="image_bridge"
name="ros_ign_image_tof_bottom"
args="$(arg sensor_prefix)/tof_bottom/depth_image">
<remap from="$(arg sensor_prefix)/tof_bottom/depth_image" to="bottom/depth"/>
<remap from="$(arg sensor_prefix)/tof_bottom/depth_image" to="tof_bottom/depth"/>
</node>
</group>

Expand Down
29 changes: 18 additions & 11 deletions submitted_models/marble_qav500_sensor_config_1/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,21 @@
<pose frame="">0 0 0 0 -0 0</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>3</mass>
<!-- <mass>3</mass> -->
<mass>2.06</mass>
<inertia>
<ixx>0.03567</ixx>
<!-- <ixx>0.03567</ixx>
<ixy>0</ixy>
<ixz>0.0006</ixz>
<ixz>0.0</ixz>
<iyy>0.05534</iyy>
<iyz>0</iyz>
<izz>0.0847</izz>
<izz>0.0847</izz> -->
<ixx>0.03566</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.05535</iyy>
<iyz>0</iyz>
<izz>0.08475</izz>
</inertia>
</inertial>
<collision name="base_link_inertia_collision">
Expand Down Expand Up @@ -587,7 +594,7 @@
</sensor> -->
</link>
<link name="rotor_0">
<pose frame="">0.206069 0.206092 0.028 0 0 0.523599</pose>
<pose frame="">0.206069 -0.205944 0.028 0 0 0.523599</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
Expand Down Expand Up @@ -628,7 +635,7 @@
<material>
<diffuse>1 0 0 1</diffuse>
<script>
<name>Gazebo/Red</name>
<name>Gazebo/Blue</name>
<uri>materials/scripts/gazebo.material</uri>
</script>
</material>
Expand Down Expand Up @@ -690,13 +697,13 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_cw.dae</uri>
<uri>meshes/neo11_propeller_ccw.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<script>
<name>Gazebo/Blue</name>
<name>Gazebo/Red</name>
<uri>materials/scripts/gazebo.material</uri>
</script>
</material>
Expand Down Expand Up @@ -789,7 +796,7 @@
</axis>
</joint> -->
<link name="rotor_2">
<pose frame="">-0.206432 -0.205944 0.028 0 -0 -2.61799</pose>
<pose frame="">0.206432 0.205944 0.028 0 -0 -2.61799</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
Expand Down Expand Up @@ -824,7 +831,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/neo11_propeller_ccw.dae</uri>
<uri>meshes/neo11_propeller_cw.dae</uri>
</mesh>
</geometry>
<material>
Expand Down Expand Up @@ -923,7 +930,7 @@
</axis>
</joint> -->
<link name="rotor_3">
<pose frame="">0.206432 -0.205944 0.028 0 0 -0.523599</pose>
<pose frame="">-0.206432 -0.205944 0.028 0 0 -0.523599</pose>
<inertial>
<pose frame="">0 0 0 0 -0 0</pose>
<mass>0.005</mass>
Expand Down