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Merge pull request #4 from ctu-mrs/m690b
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Addition of the m690b model to simulation.
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petrlmat authored Nov 8, 2023
2 parents 2afbdcf + e45e042 commit 42d7204
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Showing 14 changed files with 797 additions and 11 deletions.
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#!/bin/sh
#
# @name Holybro X500 SITL
#
# @type Quadcopter x
#
# @maintainer Petr Stibinger <[email protected]>
#

. ${R}etc/init.d/rc.mc_defaults

param set-default MAV_TYPE 2

param set-default BAT1_N_CELLS 6
param set-default BAT1_CAPACITY 22000
param set-default BAT1_V_EMPTY 3.6
param set-default BAT1_V_CHARGED 4.2
param set-default BAT1_V_LOAD_DROP 0.4

set MIXER quad_x
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uav_mass: 3.5

motor_params:
n_motors: 4
a: 0.1917
b: -0.15

mrs_uav_managers:

constraint_manager:

default_constraints:
gps_garmin: "medium"
gps_baro: "medium"
rtk: "medium"
aloam: "slow"
hector_garmin: "slow"
vio: "slow"
optflow: "slow"
other: "slow"
ground_truth: "medium"
19 changes: 10 additions & 9 deletions ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
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@@ -1,7 +1,7 @@
enable_rangefinder: [False, 'Add a laser rangefinder (Garmin) pointing down', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec]]
enable_rangefinder: [False, 'Add a laser rangefinder (Garmin) pointing down', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec, m690]]
enable_rangefinder_up: [False, 'Add a laser rangefinder (Garmin) pointing up', [f450, f550, t650, naki]]
enable_teraranger: [False, 'Add a laser rangefinder (Teraranger) to the vehicle', [f450, f550, t650]]
enable_ground_truth: [False, 'Enable topic with ground truth odometry', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec, a300]]
enable_ground_truth: [False, 'Enable topic with ground truth odometry', [f450, f550, t650, x500, f330, eaglemk2, brus, naki, big_dofec, a300, m690]]
enable_mobius_camera_front: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the front', [f450, f550, t650]]
enable_mobius_camera_down: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the ground', [f450, f550]]
enable_mobius_camera_back_left: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back left', [f450, f550]]
Expand All @@ -15,6 +15,7 @@ use_realistic_realsense: [False, 'Enable a more realistic simulation of the Real
enable_whycon_box: [False, 'Add a Whycon box for relative localization', [f450, f550]]
enable_bluefox_camera: [False, 'Add bluefox camera to the vehicle [752x480 50hz]', [f450, f550, t650, x500]]
enable_bluefox_camera_reverse: [False, 'Add bluefox camera to the vehicle [752x480 50hz], rotated by 180 deg', [f450, f550, t650, x500]]
enable_basler_camera_down: [False, 'Add basler dart camera pointing down [1920x1200]', [m690]]
enable_fisheye_camera: [False, 'Add fisheye camera to the vehicle [752x480 180deg 45hz]', [f450]]
enable_magnetic_gripper: [False, 'Add magnetic gripper', [f450, f550, t650]]
enable_scanse_sweep: [False, 'Add Scanse Sweep laser scanner to the vehicle', [f450, f550, t650]]
Expand All @@ -23,15 +24,15 @@ enable_pendulum: [False, 'Add pendulum to the vehicle', [f450, f550, t650]]
enable_teraranger_evo_tower: [False, 'Add the Teraranger Evo Tower laser scanner to the vehicle', [f450, f550, t650]]
enable_timepix: [False, 'Add Timepix radiation detector to the vehicle', [f450, f550, t650]]
enable_timepix3: [False, 'Add Timepix radiation detector to the vehicle', [f450, t650, x500]]
enable_thermal_camera: [False, 'Add thermal camera to the vehicle', [t650]]
enable_thermal_camera: [False, 'Add thermal camera to the vehicle', [t650, m690]]
enable_velodyne: [False, 'Add Velodyne PUCK Lite laser scanner to the vehicle', [f450, f550, t650]]
enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
ouster_model: ['OS1-16', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', [f330, f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', [f450, f550, t650, x500, eaglemk2, naki, big_dofec, m690]]
ouster_model: ['OS1-16', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', [f450, f550, t650, x500, eaglemk2, naki, big_dofec, m690]]
use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', [f330, f450, f550, t650, x500, eaglemk2, naki, big_dofec, m690]]
horizontal_samples: [None, 'Override default number of horizontal samples for LiDARs', [f450, f550, t650, x500, naki]]
rotation_freq: [None, 'Override default update rate for LiDARs', [f450, f550, t650, x500, naki]]
enable_light: [False, 'Add light to the vehicle', [f450, f550, t650, x500, naki]]
enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', [f450, f550, t650, naki]]
enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', [f450, f550, t650, naki, m690]]
enable_water_gun: [False, 'Add water gun for fire fighting', [t650]]
enable_parachute: [False, 'Add parachute for emergency flight termination', [t650]]
wall_challenge: [False, 'Configuration for the MBZIRC wall challenge (T650 with 2x bluefox down, realsense down pitched, rangefinder down)', [t650]]
Expand All @@ -49,11 +50,11 @@ enable_dual_uv_cameras: [False, 'Add right and left UV cameras on the vehicle',
enable_back_uv_camera: [False, 'Add back UV camera on the vehicle', [f450, x500]]
uvcam_calib_file: [None, 'Specify UV camera calibration different than default one', [f450, f550, t650, x500]]
uvcam_occlusions: [False, 'Enable occlusions for UVDAR simulation (NOTE: THIS REQUIRES A BEEFY COMPUTER)', [f450, f550, t650, x500]]
pos_file: [None, 'Load positions and ids from .csv file with format: [id, x, y, z, heading] or .yaml file with format: [uav_name: \n id: (int) \n x: (float) \n y: (float) \n z: (float) \n heading: (float)]', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec]]
pos_file: [None, 'Load positions and ids from .csv file with format: [id, x, y, z, heading] or .yaml file with format: [uav_name: \n id: (int) \n x: (float) \n y: (float) \n z: (float) \n heading: (float)]', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, m690]]
pos: [None, 'Specify spawn position of the first vehicle in format [x, y, z, heading]. Additional vehicles will spawn in line with 2m x-offset', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec]]
enable_vio: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', [f330, f450]]
enable_vio_down: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', [f330, f450]]
enable_omni_ultrasounds: [False, 'Add omnidirectional ultrasonic sensors (up, down, 4 in horizontal plane)', [naki]]
enable_safety_led: [False, 'Add a safety LED', [naki]]
model_package: ["mrs_uav_gazebo_simulation", 'package name for the UAV models', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, a300]]
model_package: ["mrs_uav_gazebo_simulation", 'package name for the UAV models', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, a300, m690]]
disable_motor_crash: [False, 'Disables motor failure after crash with the environment', [f330, f450, f550, t650, x500, eaglemk2, brus, naki, big_dofec, a300]]
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Expand Up @@ -261,6 +261,20 @@ limitations under the License.
{%- endmacro -%}
<!--}-->

<!-- Collision cylinder macro {-->
{%- macro collision_cylinder_macro(name, collision_length, collision_radius, x, y, z, roll, pitch, yaw) -%}
<collision name="{{ name }}_collision">
<pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
<geometry>
<cylinder>
<length>{{ collision_length }}</length>
<radius>{{ collision_radius }}</radius>
</cylinder>
</geometry>
</collision>
{%- endmacro -%}
<!--}-->

<!-- Leg macro {-->
{%- macro leg_macro(name, mesh_file, mesh_scale, color, parent, x, y, z, roll, pitch, yaw, collision_height, collision_radius) -%}
{{ visual_mesh_macro(
Expand Down Expand Up @@ -2221,7 +2235,6 @@ limitations under the License.
<visualize>0</visualize>
</sensor>
<!--}-->
<!--}-->

</link>

Expand Down Expand Up @@ -2287,6 +2300,41 @@ limitations under the License.
{%- endmacro -%}
<!--}-->

<!-- Macro to add a Basler Dart camera {-->
{%- macro basler_camera_macro(namespace, camera_name, parent_link, frame_rate, hfov, noise, x, y, z, roll, pitch, yaw) -%}
{{ camera_macro(
parent_link = parent_link,
camera_name = camera_name,
parent_frame_name = namespace + "/fcu",
camera_frame_name = namespace + "/" + camera_name + "_optical",
sensor_base_frame_name = namespace + "/" + camera_name,
frame_rate = frame_rate,
horizontal_fov = hfov,
image_width = 1920,
image_height = 1200,
min_distance = 0.02,
max_distance = 80,
noise_mean = 0.0,
noise_stddev = noise,
mesh_file = "model://mrs_robots_description/meshes/sensors/basler_dart.stl",
mesh_scale = "0.001 0.001 0.001",
color = "DarkGrey",
visual_x = 0,
visual_y = 0,
visual_z = 0,
visual_roll = 0,
visual_pitch = 0,
visual_yaw = 0,
x = x,
y = y,
z = z,
roll = roll,
pitch = pitch,
yaw = yaw)
}}
{%- endmacro -%}
<!--}-->

<!-- Macro to add a Fisheye camera {-->
{%- macro fisheye_camera_macro(namespace, camera_name, topic_ns_prefix, parent_link, frame_rate, noise, x, y, z, roll, pitch, yaw) -%}
{{ fisheye_macro(
Expand Down
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