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Oleg Kalachev
2023-03-26 10:23:30 +03:00
commit e039055c8e
46 changed files with 3049 additions and 0 deletions
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gazebo/models/flix/flix.dae Normal file
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gazebo/models/flix/flix.sdf Normal file
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<?xml version="1.0"?>
<sdf version="1.5">
<model name="flix">
<static>false</static>
<link name="body">
<inertial>
<mass>0.065</mass>
<inertia>
<ixx>3.55E-5</ixx>
<iyy>4.23E-5</iyy>
<izz>7.47E-5</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.125711 0.125711 0.022</size>
</box>
</geometry>
</collision>
<visual name="body">
<geometry>
<mesh><uri>model://flix/flix.dae</uri></mesh>
<!-- <box>
<size>0.125711 0.125711 0.022</size>
</box> -->
<!-- led -->
</geometry>
</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">
<always_on>1</always_on>
<visualize>1</visualize>
<update_rate>1000</update_rate>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</link>
<!-- <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>
</sdf>

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gazebo/models/flix/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>flix</name>
<version>1.0</version>
<sdf version="1.5">flix.sdf</sdf>
<author>
<name>Oleg Kalachev</name>
<email>okalachev@gmail.com</email>
</author>
<license>Unknown</license>
<description>
Flix quadrotor
</description>
</model>

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gazebo/models/floor/floor.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="floor">
<static>true</static>
<link name="link">
<pose>0 0 -0.02 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
<material>
<script>
<uri>model://floor/materials/scripts</uri>
<uri>model://floor/materials/textures</uri>
<name>parquet</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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gazebo/models/floor/materials/scripts/floor.material Normal file
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material parquet
{
technique
{
pass
{
ambient 0.5 0.5 0.5 1.0
diffuse 0.5 0.5 0.5 1.0
specular 0.2 0.2 0.2 1.0 12.5
texture_unit
{
texture floor.jpg
filtering anistropic
max_anisotropy 16
scale 0.01 0.01
}
}
}
}

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gazebo/models/floor/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Floor</name>
<version>1.0</version>
<sdf version="1.5">floor.sdf</sdf>
<author>
<name>Oleg Kalachev</name>
<email>okalachev@gmail.com</email>
</author>
<license>Unknown</license>
<description>
Floor.
</description>
</model>