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iris_camera.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/iris_camera.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="iris_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link"/>
<joint name="base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_link_inertia"/>
</joint>
<link name="base_link_inertia">
<inertial>
<mass value="1.5"/>
<!-- [kg] -->
<origin xyz="0 0 0"/>
<inertia ixx="0.0347563" ixy="0.0" ixz="0.0" iyy="0.0458929" iyz="0.0" izz="0.0977"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/iris.stl" scale="1 1 1"/>
<!-- <box size="${body_width} ${body_width} ${body_height}"/> -->
<!-- [m] [m] [m] -->
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.47 0.47 0.11"/>
<!-- [m] [m] [m] -->
</geometry>
</collision>
</link>
<!-- attach multirotor_base_plugin to the base_link -->
<gazebo>
<plugin filename="librotors_gazebo_multirotor_base_plugin.so" name="rosbag">
<robotNamespace></robotNamespace>
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
</gazebo>
<gazebo reference="base_link">
<material>Gazebo/DarkGrey</material>
<collision name="base_link_inertia_collision">
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0.0</max_vel>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
</gazebo>
<joint name="rotor_0_joint" type="continuous">
<origin rpy="0 0 0" xyz="0.13 -0.22 0.023"/>
<axis xyz="0 0 1"/>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
<parent link="base_link"/>
<child link="rotor_0"/>
</joint>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <gazebo reference="rotor_${motor_number}_joint"> <axis> <xyz>0 0 1</xyz>
<limit> <velocity> ${max_rot_velocity} </velocity> </limit> </axis> </gazebo> -->
<link name="rotor_0">
<inertial>
<mass value="0.005"/>
<!-- [kg] -->
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000273104166667" iyz="0.0" izz="0.000274004166667"/>
</inertial>
<visual>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
<!-- <mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/propeller_${direction}.dae" -->
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.005" radius="0.128"/>
<!-- [m] -->
</geometry>
</collision>
</link>
<gazebo>
<plugin filename="librotors_gazebo_motor_model.so" name="front_right_motor_model">
<robotNamespace></robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<!--
<gazebo_joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>3</cmdMax>
<cmdMin>-3</cmdMin>
</gazebo_joint_control_pid>
-->
</plugin>
</gazebo>
<gazebo reference="rotor_0">
<material>Gazebo/Blue</material>
</gazebo>
<joint name="rotor_1_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.13 0.2 0.023"/>
<axis xyz="0 0 1"/>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
<parent link="base_link"/>
<child link="rotor_1"/>
</joint>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <gazebo reference="rotor_${motor_number}_joint"> <axis> <xyz>0 0 1</xyz>
<limit> <velocity> ${max_rot_velocity} </velocity> </limit> </axis> </gazebo> -->
<link name="rotor_1">
<inertial>
<mass value="0.005"/>
<!-- [kg] -->
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000273104166667" iyz="0.0" izz="0.000274004166667"/>
</inertial>
<visual>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
<!-- <mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/propeller_${direction}.dae" -->
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.005" radius="0.128"/>
<!-- [m] -->
</geometry>
</collision>
</link>
<gazebo>
<plugin filename="librotors_gazebo_motor_model.so" name="back_left_motor_model">
<robotNamespace></robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<!--
<gazebo_joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>3</cmdMax>
<cmdMin>-3</cmdMin>
</gazebo_joint_control_pid>
-->
</plugin>
</gazebo>
<gazebo reference="rotor_1">
<material>Gazebo/DarkGrey</material>
</gazebo>
<joint name="rotor_2_joint" type="continuous">
<origin rpy="0 0 0" xyz="0.13 0.22 0.023"/>
<axis xyz="0 0 1"/>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
<parent link="base_link"/>
<child link="rotor_2"/>
</joint>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <gazebo reference="rotor_${motor_number}_joint"> <axis> <xyz>0 0 1</xyz>
<limit> <velocity> ${max_rot_velocity} </velocity> </limit> </axis> </gazebo> -->
<link name="rotor_2">
<inertial>
<mass value="0.005"/>
<!-- [kg] -->
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000273104166667" iyz="0.0" izz="0.000274004166667"/>
</inertial>
<visual>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
<!-- <mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/propeller_${direction}.dae" -->
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.005" radius="0.128"/>
<!-- [m] -->
</geometry>
</collision>
</link>
<gazebo>
<plugin filename="librotors_gazebo_motor_model.so" name="front_left_motor_model">
<robotNamespace></robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<!--
<gazebo_joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>3</cmdMax>
<cmdMin>-3</cmdMin>
</gazebo_joint_control_pid>
-->
</plugin>
</gazebo>
<gazebo reference="rotor_2">
<material>Gazebo/Blue</material>
</gazebo>
<joint name="rotor_3_joint" type="continuous">
<origin rpy="0 0 0" xyz="-0.13 -0.2 0.023"/>
<axis xyz="0 0 1"/>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <limit effort="2000" velocity="${max_rot_velocity}" /> -->
<parent link="base_link"/>
<child link="rotor_3"/>
</joint>
<!-- TODO(ff): not currently set because it's not yet supported -->
<!-- <gazebo reference="rotor_${motor_number}_joint"> <axis> <xyz>0 0 1</xyz>
<limit> <velocity> ${max_rot_velocity} </velocity> </limit> </axis> </gazebo> -->
<link name="rotor_3">
<inertial>
<mass value="0.005"/>
<!-- [kg] -->
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000273104166667" iyz="0.0" izz="0.000274004166667"/>
</inertial>
<visual>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
<!-- <mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/propeller_${direction}.dae" -->
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/rotors_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
<!-- <box size="${2*radius_rotor} 0.01 0.005"/> -->
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.005" radius="0.128"/>
<!-- [m] -->
</geometry>
</collision>
</link>
<gazebo>
<plugin filename="librotors_gazebo_motor_model.so" name="back_right_motor_model">
<robotNamespace></robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1100</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<!--
<gazebo_joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>3</cmdMax>
<cmdMin>-3</cmdMin>
</gazebo_joint_control_pid>
-->
</plugin>
</gazebo>
<gazebo reference="rotor_3">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo>
<plugin filename="librotors_gazebo_mavlink_interface.so" name="mavlink_interface">
<robotNamespace></robotNamespace>
<imuSubTopic>/imu</imuSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_udp_port>14560</mavlink_udp_port>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name="rotor1">
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name="rotor2">
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name="rotor3">
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name="rotor4">
<input_index>3</input_index>
<input_offset>0</input_offset>
<input_scaling>1000</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>100</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
</channel>
<channel name="rotor5">
<input_index>4</input_index>
<input_offset>1</input_offset>
<input_scaling>324.6</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_control_pid>
<p>0.1</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
</joint_control_pid>
<joint_name>zephyr_delta_wing::propeller_joint</joint_name>
</channel>
<channel name="rotor6">
<input_index>5</input_index>
<input_offset>0</input_offset>
<!-- joint limits [-0.524, 0.524] -->
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name="rotor7">
<input_index>6</input_index>
<input_offset>0</input_offset>
<!-- joint limits [-0.524, 0.524] -->
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
<joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
<joint_control_pid>
<p>10.0</p>
<i>0</i>
<d>0</d>
<iMax>0</iMax>
<iMin>0</iMin>
<cmdMax>20</cmdMax>
<cmdMin>-20</cmdMin>
</joint_control_pid>
</channel>
<channel name="rotor8">
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>0.524</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position</joint_control_type>
</channel>
</control_channels>
</plugin>
</gazebo>
<!-- IMU link -->
<link name="/imu_link">
<inertial>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
<mass value="0.015"/>
<!-- [kg] -->
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<!-- IMU joint -->
<joint name="/imu_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="/imu_link"/>
<limit effort="0" lower="0" upper="0" velocity="0"/>
</joint>
<gazebo>
<plugin filename="librotors_gazebo_imu_plugin.so" name="rotors_gazebo_imu_plugin">
<!-- A good description of the IMU parameters can be found in the kalibr documentation:
https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model-and-Intrinsics -->
<robotNamespace></robotNamespace>
<!-- (string, required): ros namespace in which the messages are published -->
<linkName>/imu_link</linkName>
<!-- (string, required): name of the body which holds the IMU sensor -->
<imuTopic>/imu</imuTopic>
<!-- (string): name of the sensor output topic and prefix of service names (defaults to imu) -->
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<!-- Gyroscope noise density (two-sided spectrum) [rad/s/sqrt(Hz)] -->
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<!-- Gyroscope bias random walk [rad/s/s/sqrt(Hz)] -->
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<!-- Gyroscope bias correlation time constant [s] -->
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<!-- Gyroscope turn on bias standard deviation [rad/s] -->
<accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
<!-- Accelerometer noise density (two-sided spectrum) [m/s^2/sqrt(Hz)] -->
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<!-- Accelerometer bias random walk. [m/s^2/s/sqrt(Hz)] -->
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<!-- Accelerometer bias correlation time constant [s] -->
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
<!-- Accelerometer turn on bias standard deviation [m/s^2] -->
</plugin>
</gazebo>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0.29 0" xyz="0.1475 0.0 0.0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<inertial>
<mass value="0.200"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/camera/meshes/asus_camera_simple.dae"/>
</geometry>
</visual>
<!--
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.035 0.185 0.025"/>
</geometry>
</collision>
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/home/oli/tesi_software/Firmware/Tools/sitl_gazebo/models/camera/meshes/asus_camera_simple.dae"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<joint name="camera_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<!-- ASUS Xtion PRO camera for simulation -->
<gazebo reference="camera_depth_frame">
<sensor name="camera" type="depth">
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.91986217719</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.7</near>
<far>15</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_camera_controller">
<imageTopicName>camera/rgb/image_raw</imageTopicName>
<cameraInfoTopicName>camera/rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>camera/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>camera/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>camera/depth/points</pointCloudTopicName>
<frameName>camera_depth_optical_frame</frameName>
</plugin>
</sensor>
</gazebo>
</robot>