aquanaute_gazebo.urdf.xacro
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<?xml version="1.0"?>
<!-- Basic WAM-V with gazebo plugins for dynamics -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="testing" default="false" />
<!-- Include macros for dynamics plugins -->
<xacro:unless value="$(arg testing)">
<xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
</xacro:unless>
<!-- Defines the base vehicle -->
<xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
<!--Gazebo References-->
<gazebo reference="base_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="platform_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="right_hull_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="left_hull_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="motor_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="propeller_link">
<kp>1.0</kp>
<kd>1.0</kd>
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="sensor_frame_link">
<kp>100000.0</kp>
<kd>100000.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<pose>0 0 0 3.141593 0 0</pose>
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
</sensor>
<material>Gazebo/Yellow</material>
</gazebo>
<!-- * * * GAZEBO Plugins * * * -->
<gazebo>
<plugin name="ardupilot_plugin" filename="libArduPilotPlugin.so">
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<fdm_port_out>9003</fdm_port_out>
<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
<imuName>imu_sensor</imuName>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<!--
incoming control command [0, 1]
so offset it by 0 to get [0, 1]
and divide max target by 1.
offset = 0
multiplier = 838 max rpm / 1 = 838
-->
<control channel="0">
<multiplier>1</multiplier>
<offset>-0.5</offset>
<type>POSITION</type>
<p_gain>1</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>1</cmd_max>
<cmd_min>-1</cmd_min>
<jointName>aquanaute::motor_platform_joint</jointName>
</control>
<control channel="1">
<type>VELOCITY</type>
<offset>-0.5</offset>
<p_gain>1</p_gain>
<i_gain>0</i_gain>
<d_gain>0</d_gain>
<i_max>0</i_max>
<i_min>0</i_min>
<cmd_max>10</cmd_max>
<cmd_min>-10</cmd_min>
<jointName>aquanaute::propeller_motor_joint</jointName>
<multiplier>70</multiplier>
</control>
</plugin>
</gazebo>
<!-- Attach hydrodynamics plugin -->
<xacro:unless value="$(arg testing)">
<xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
</xacro:unless>
</robot>