Merge pull request #9 from Field-Robotics-Lab/new_models3

move target further than 2 meters, align collision element, improve mesh
Field-Robotics-Lab · Jun 9, 2020 · 7c8091d · 7c8091d
2 parents 194fe0e + 181104e
commit 7c8091d
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Showing 10 changed files with 152 additions and 167 deletions.
diff --git a/models/blueview_m450/model.sdf b/models/blueview_m450/model.sdf
@@ -3,27 +3,28 @@
   <model name="blueview_m450">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>1</mass>
+        <pose>0 0 0 0 0 -1.570796</pose>
+        <mass>4.78</mass>
         <!-- Mark only - based on cylinder -->
         <inertia>
-          <ixx>0.1</ixx>
+          <ixx>0.0191</ixx>  <!-- as 2/5mr^2 -->
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0.1</iyy>
+          <iyy>0.0191</iyy>
           <iyz>0</iyz>
-          <izz>0.1</izz>
+          <izz>0.0191</izz>
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
+        <pose>0 0 0 0 0 -1.570796</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://blueview_m450/meshes/COLLISION-BlueView-M450.dae</uri>
 	  </mesh>
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 0 0 0 -1.570796</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://blueview_m450/meshes/BlueView-M450.dae</uri>

diff --git a/models/blueview_p900/meshes/COLLISION-p900.dae b/models/blueview_p900/meshes/COLLISION-p900.dae
diff --git a/models/blueview_p900/meshes/p900.dae b/models/blueview_p900/meshes/p900.dae
diff --git a/models/blueview_p900/meshes/p900.stl b/models/blueview_p900/meshes/p900.stl
diff --git a/models/blueview_p900/meshes/tx-p900.png b/models/blueview_p900/meshes/tx-p900.png
diff --git a/models/blueview_p900/model.sdf b/models/blueview_p900/model.sdf
@@ -15,12 +15,10 @@
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
         <geometry>
-          <cylinder>
-            <radius>0.0635</radius>
-            <length>0.315</length>
-          </cylinder>
+	  <mesh>
+	    <uri>model://blueview_p900/meshes/COLLISION-p900.dae</uri>
+	  </mesh>
         </geometry>
       </collision>
       <visual name="visual">
@@ -46,7 +44,7 @@
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>02</near>
+            <near>02</near> <!-- optimal 2m-60m -->
             <far>60</far>
           </clip>
 	  <depth_camera>

diff --git a/models/seabat_f50/model.sdf b/models/seabat_f50/model.sdf
@@ -3,27 +3,27 @@
   <model name="SeaBat-F50 FLS">
     <link name="forward_sonar_link">
       <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>11.7</mass>
+        <pose>0 0 0 0 0 1.570796</pose>
+        <mass>8.2</mass>
         <inertia>
-          <ixx>0.0306</ixx> <!-- 11.7*.56^2/12 if receiver mounted at end -->
+          <ixx>0.151702733</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>0</iyy>
+          <iyy>0.012730835</iyy>
           <iyz>0</iyz>
-          <izz>0.0306</izz>
+          <izz>0.150214768</izz>
         </inertia>
       </inertial>
       <collision name="collision">
-        <pose>-0.08 0 0 0 1.571 0</pose>
+        <pose>0 0 0 0 0 1.570796</pose>
         <geometry>
-          <cylinder>
-            <radius>0.051</radius>
-            <length>0.56</length>
-          </cylinder>
+          <box>
+            <size>0.46 0.0907 0.102</size>
+          </box>
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 0 0 1.570796 0</pose>
         <geometry>
 	  <mesh>
 	    <uri>model://seabat_f50/meshes/SeaBat-F50.dae</uri>
@@ -45,7 +45,7 @@
             <format>R8G8B8</format>
           </image>
           <clip>
-            <near>01</near> <!-- not defined -->
+            <near>2</near> <!-- not defined -->
             <far>600</far>
           </clip>
 	  <depth_camera>

diff --git a/worlds/sonar_tank_blueview_m450.world b/worlds/sonar_tank_blueview_m450.world
@@ -24,7 +24,7 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 

diff --git a/worlds/sonar_tank_blueview_p900.world b/worlds/sonar_tank_blueview_p900.world
@@ -24,7 +24,7 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 

diff --git a/worlds/sonar_tank_seabat_f50.world b/worlds/sonar_tank_seabat_f50.world
@@ -24,14 +24,14 @@
     <!-- cylinder target -->
     <include>
       <uri>model://cylinder_target</uri>
-      <pose>2.1 3.0 1.0 0 0 0</pose>
+      <pose>2.1 5.0 1.0 0 0 0</pose>
       <static>true</static>
     </include>
 
     <!-- SeaBat F50 -->
     <include>
       <uri>model://seabat_f50</uri>
-      <name>blueview_p900</name>
+      <name>seabat_f50</name>
       <pose>2.1 1.0 1.0 0 0 1.5709</pose>
       <static>true</static>
     </include>