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Main sdf cleanups, minor fix

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This commit is contained in:
Oleg Kalachev 2023-12-15 09:43:54 +03:00
parent f118bca6d1
commit a9bcec2fa5
2 changed files with 2 additions and 87 deletions
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2
flix/control.ino
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@ -104,7 +104,7 @@ void interpretRC()
} }
if (yawMode == YAW_RATE || !motorsActive()) { if (yawMode == YAW_RATE || !motorsActive()) {
// update yaw target as we have not control over the yaw // update yaw target as we don't have control over the yaw
attitudeTarget.setYaw(attitude.getYaw()); attitudeTarget.setYaw(attitude.getYaw());
} }
} }

87
gazebo/models/flix/flix.sdf
View File

@ -1,7 +1,6 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<sdf version="1.5"> <sdf version="1.5">
<model name="flix"> <model name="flix">
<static>false</static>
<link name="body"> <link name="body">
<inertial> <inertial>
<mass>0.065</mass> <mass>0.065</mass>
@ -21,37 +20,8 @@
<visual name="body"> <visual name="body">
<geometry> <geometry>
<mesh><uri>model://flix/flix.dae</uri></mesh> <mesh><uri>model://flix/flix.dae</uri></mesh>
<!-- <box>
<size>0.125711 0.125711 0.022</size>
</box> -->
<!-- led -->
</geometry> </geometry>
</visual> </visual>
<!-- motors visual -->
<!-- <visual name="prop0">
<geometry>
<mesh><uri>model://flix/prop.dae</uri></mesh>
</geometry>
<pose relative_to="body">-0.035355 0.035355 0.011 0 0 0</pose>
</visual>
<visual name="prop1">
<geometry>
<mesh><uri>model://flix/prop.dae</uri></mesh>
</geometry>
<pose relative_to="body">-0.035355 -0.035355 0.011 0 0 1</pose>
</visual>
<visual name="prop2">
<geometry>
<mesh><uri>model://flix/prop.dae</uri></mesh>
</geometry>
<pose relative_to="body">0.035355 -0.035355 0.011 0 0 0</pose>
</visual>
<visual name="prop3">
<geometry>
<mesh><uri>model://flix/prop.dae</uri></mesh>
</geometry>
<pose relative_to="body">0.035355 0.035355 0.011 0 0 0</pose>
</visual> -->
<sensor name="imu" type="imu"> <sensor name="imu" type="imu">
<always_on>1</always_on> <always_on>1</always_on>
<visualize>1</visualize> <visualize>1</visualize>
@ -92,63 +62,8 @@
</z> </z>
</linear_acceleration> </linear_acceleration>
</imu> </imu>
</sensor> </sensor>
</link> </link>
<plugin name="flix" filename="libflix.so"/>
<!-- <link name="imu_link">
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
<sensor name="imu" type="imu">
<always_on>1</always_on>
<visualize>1</visualize>
<update_rate>50</update_rate>
</sensor>
</link>
<joint name="hokuyo_joint" type="fixed">
<child>imu_link</child>
<parent>body</parent>
</joint> -->
<!-- <link name="motor0"></link>
<link name="motor1"></link>
<link name="motor2"></link>
<link name="motor3"></link>
<joint name="motor0_joint" type="fixed">
<parent>body</parent>
<child>motor0</child>
<pose relative_to="body">-0.035355 0.035355 0 0 0 0</pose>
</joint>
<joint name="motor1_joint" type="fixed">
<parent>body</parent>
<child>motor1</child>
<pose relative_to="body">-0.035355 -0.035355 0 0 0 0</pose>
</joint>
<joint name="motor2_joint" type="fixed">
<parent>body</parent>
<child>motor2</child>
<pose relative_to="body">0.035355 -0.035355 0 0 0 0</pose>
</joint>
<joint name="motor3_joint" type="fixed">
<parent>body</parent>
<child>motor3</child>
<pose relative_to="body">0.035355 0.035355 0 0 0 0</pose>
</joint> -->
<plugin name="flix" filename="libflix.so">
<always_on>1</always_on>
<robotNamespace></robotNamespace>
<visualize>1</visualize>
</plugin>
</model> </model>
</sdf> </sdf>