Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Changes omav.xacro, added additional required model files #34

Merged
merged 7 commits into from
Oct 4, 2022
Merged

Changes omav.xacro, added additional required model files #34

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
f232569
Update Basics of Control systems.md
ars-21 Aug 19, 2022
8934f9c
Resolved Merge Conflicts
ars-21 Oct 1, 2022
acd07e5
Merge branch 'main' into dev_Aryan
ars-21 Oct 1, 2022
fae5e54
Merge branch 'dev_Aryan' of github.com:ars-21/Eklavya-Copter-Control …
ars-21 Oct 1, 2022
c96d524
Added Meshes and World Files
ars-21 Oct 1, 2022
006cd25
Changes omav.xacro
ars-21 Oct 4, 2022
32ed436
Changes omav.xacro
ars-21 Oct 4, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
24 changes: 12 additions & 12 deletions rotors_description/urdf/omav.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,8 +93,8 @@
<!-- Instantiate rotors -->
<xacro:double_tilt_unit robot_namespace="${namespace}"
suffix="right"
direction_upper="cw"
direction_lower="cw"
direction_upper="ccw"
direction_lower="ccw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand All @@ -119,8 +119,8 @@
<xacro:double_tilt_unit
robot_namespace="${namespace}"
suffix="left"
direction_upper="ccw"
direction_lower="ccw"
direction_upper="cw"
direction_lower="cw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand All @@ -145,8 +145,8 @@
<xacro:double_tilt_unit
robot_namespace="${namespace}"
suffix="front_left"
direction_upper="cw"
direction_lower="cw"
direction_upper="ccw"
direction_lower="ccw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand All @@ -170,8 +170,8 @@

<xacro:double_tilt_unit robot_namespace="${namespace}"
suffix="back_right"
direction_upper="ccw"
direction_lower="ccw"
direction_upper="cw"
direction_lower="cw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand All @@ -195,8 +195,8 @@

<xacro:double_tilt_unit robot_namespace="${namespace}"
suffix="front_right"
direction_upper="ccw"
direction_lower="ccw"
direction_upper="cw"
direction_lower="cw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand All @@ -220,8 +220,8 @@

<xacro:double_tilt_unit robot_namespace="${namespace}"
suffix="back_left"
direction_upper="cw"
direction_lower="cw"
direction_upper="ccw"
direction_lower="ccw"
motor_constant="${motor_constant}"
motor_constant_lower="${motor_constant_lower}"
moment_constant="${moment_constant}"
Expand Down
20 changes: 20 additions & 0 deletions rotors_gazebo/models/asphalt_plane/materials/scripts/asphalt.material
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
material vrc/asphalt
{
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 tarmac.png
filtering anistropic
max_anisotropy 16
scale 0.1 0.1
}
}
}
}
Binary file added rotors_gazebo/models/asphalt_plane/materials/textures/tarmac.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
30 changes: 30 additions & 0 deletions rotors_gazebo/models/asphalt_plane/model-1_4.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="asphalt_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>20 20 .1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>20 20 .1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
18 changes: 18 additions & 0 deletions rotors_gazebo/models/asphalt_plane/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0"?>

<model>
<name>Asphalt Plane</name>
<version>1.0</version>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Thomas Koletschka</name>
<email>[email protected]</email>
</author>

<description>
An asphalt textured plane.
</description>

</model>
30 changes: 30 additions & 0 deletions rotors_gazebo/models/asphalt_plane/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="asphalt_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>20 20 .1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>20 20 .1</size>
</box>
</geometry>
<material>
<script>
<uri>model://asphalt_plane/materials/scripts</uri>
<uri>model://asphalt_plane/materials/textures</uri>
<name>vrc/asphalt</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
18 changes: 18 additions & 0 deletions rotors_gazebo/models/ros_interface/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0"?>

<model>
<name>ROS Interface</name>
<version>1.0</version>

<sdf version="1.5">model.sdf</sdf>

<author>
<name>Geoffrey Hunter</name>
<email>[email protected]</email>
</author>

<description>
A model that purely exists to load the ROS interface plugin in Gazebo.
</description>

</model>
9 changes: 9 additions & 0 deletions rotors_gazebo/models/ros_interface/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ros_interface">
<static>true</static>
<plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so">
<robotNamespace>firefly</robotNamespace>
</plugin>
</model>
</sdf>
5 changes: 5 additions & 0 deletions rotors_gazebo/models/rotors_description/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
<?xml version="1.0"?>
<model>
<name>rotors description</name>
<version>1.0</version>
</model>
Loading