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Add world with moving platform (#83)
New world moving_platform to simulate takeoff/landing on moving vehicle. Depends on MovingPlatformController plugin introduced in PX4/PX4-Autopilot#24471. Launch using: PX4_GZ_MODEL_POSE=0,0,2.2,0,0,0 PX4_GZ_WORLD=moving_platform make px4_sitl gz_standard_vtol
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| sdf_parsing/build/ |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <model> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
| </model> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <sdf version="1.9"> | ||
| <model name="flat_platform"> | ||
| <link name="platform_link"> | ||
| <visual name="platform_visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>5 5 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.3 0.3 0.3 1</ambient> | ||
| <diffuse>0.3 0.3 0.3 1</diffuse> | ||
| <specular>0.1 0.1 0.1 1</specular> | ||
| </material> | ||
| </visual> | ||
| <collision name="platform_collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>5 5 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <pose>0 0 2 0 0 0</pose> | ||
| <inertial> | ||
| <mass>10000</mass> | ||
| <inertia> | ||
| <ixx>10000</ixx> | ||
| <iyy>10000</iyy> | ||
| <izz>10000</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <sensor name="navsat_sensor" type="navsat"> | ||
| <always_on>1</always_on> | ||
| <update_rate>30</update_rate> | ||
| </sensor> | ||
| </link> | ||
| <!-- plugin for sending direct velocity commands --> | ||
| <plugin | ||
| filename="gz-sim-velocity-control-system" | ||
| name="gz::sim::systems::VelocityControl"> | ||
| </plugin> | ||
| <plugin | ||
| filename="libMovingPlatformController.so" | ||
| name="custom::MovingPlatformController"> | ||
| </plugin> | ||
| </model> | ||
| </sdf> |
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <sdf version="1.9"> | ||
| <world name="moving_platform"> | ||
| <physics type="ode"> | ||
| <max_step_size>0.004</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| <real_time_update_rate>250</real_time_update_rate> | ||
| </physics> | ||
| <gravity>0 0 -9.8</gravity> | ||
| <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> | ||
| <atmosphere type="adiabatic"/> | ||
| <scene> | ||
| <grid>false</grid> | ||
| <ambient>0.4 0.4 0.4 1</ambient> | ||
| <background>0.7 0.7 0.7 1</background> | ||
| <shadows>true</shadows> | ||
| </scene> | ||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>1 1</size> | ||
| </plane> | ||
| </geometry> | ||
| <surface> | ||
| <friction> | ||
| <ode/> | ||
| </friction> | ||
| <bounce/> | ||
| <contact/> | ||
| </surface> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>500 500</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> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <inertial> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <mass>1</mass> | ||
| <inertia> | ||
| <ixx>1</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>1</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>1</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <enable_wind>false</enable_wind> | ||
| </link> | ||
| <pose>0 0 0 0 -0 0</pose> | ||
| <self_collide>false</self_collide> | ||
| </model> | ||
| <include> | ||
| <uri>model://moving_platform</uri> | ||
| </include> | ||
| <light name="sunUTC" type="directional"> | ||
| <pose>0 0 500 0 -0 0</pose> | ||
| <cast_shadows>true</cast_shadows> | ||
| <intensity>1</intensity> | ||
| <direction>0.001 0.625 -0.78</direction> | ||
| <diffuse>0.904 0.904 0.904 1</diffuse> | ||
| <specular>0.271 0.271 0.271 1</specular> | ||
| <attenuation> | ||
| <range>2000</range> | ||
| <linear>0</linear> | ||
| <constant>1</constant> | ||
| <quadratic>0</quadratic> | ||
| </attenuation> | ||
| <spot> | ||
| <inner_angle>0</inner_angle> | ||
| <outer_angle>0</outer_angle> | ||
| <falloff>0</falloff> | ||
| </spot> | ||
| </light> | ||
| <spherical_coordinates> | ||
| <surface_model>EARTH_WGS84</surface_model> | ||
| <world_frame_orientation>ENU</world_frame_orientation> | ||
| <latitude_deg>47.397971057728974</latitude_deg> | ||
| <longitude_deg> 8.546163739800146</longitude_deg> | ||
| <elevation>0</elevation> | ||
| </spherical_coordinates> | ||
| </world> | ||
| </sdf> |