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Support SITL simulation for boat with usv_gazebo plugin #357

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Support SITL simulation for boat with usv_gazebo plugin #357

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8b71ef5
WIP boat model
Jaeyoung-Lim Sep 6, 2019
95e92f6
Swap propellor model
Jaeyoung-Lim Sep 10, 2019
e046732
Added engine and thrust links
Jaeyoung-Lim Sep 18, 2019
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381 changes: 381 additions & 0 deletions models/boat/boat.sdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<sdf version='1.5'>
<model name='boat'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<!-- From WAM-V spec sheet -->
<mass>180.0</mass>
<inertia>
<ixx>120</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>393</iyy>
<iyz>0</iyz>
<izz>446.0</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 -0.07 0 0 0</pose>
<geometry>
<box>
<size>0.47 0.47 0.11</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>10</max_vel>
<min_depth>0.01</min_depth>
</ode>
</contact>
<!--<friction>
<ode/>
</friction>-->
</surface>
</collision>
<collision name='left_float'>
<pose>0.4 1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>4.0</length>
</cylinder>
</geometry>
</collision>
<collision name='right_float'>
<pose>0.4 -1.03 0.2 0 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.2</radius>
<length>4.0</length>
</cylinder>
</geometry>
</collision>
<collision name='left_mid_float'>
<pose>1.85 1.03 0.3 0 1.38 0</pose>
<geometry>
<cylinder>
<radius>0.17</radius>
<length>0.5</length>
</cylinder>
</geometry>
</collision>
<collision name='right_mid_float'>
<pose>1.85 -1.03 0.3 0 1.38 0</pose>
<geometry>
<cylinder>
<radius>0.17</radius>
<length>0.5</length>
</cylinder>
</geometry>
</collision>
<collision name='left_front_float'>
<pose>2.3 -1.03 0.4 0 1.3 0</pose>
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.45</length>
</cylinder>
</geometry>
</collision>
<collision name='right_front_float'>
<pose>2.3 -1.03 0.4 0 1.3 0</pose>
<geometry>
<cylinder>
<radius>0.12</radius>
<length>0.45</length>
</cylinder>
</geometry>
</collision>
<visual name='base_link_visual'>
<pose>0.07 0 -0.08 0 0.0 0</pose>
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://boat/meshes/body.dae</uri>
</mesh>
</geometry>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='boat/imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</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>
</link>
<link name='boat/left_engine_link'>
<pose>-2.373776 1.027135 0.318237 0 0 0</pose>
<visual name='left_engine_link_visual'>
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://boat/meshes/engine.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='left_engine_vertical_axis_collision'>
<pose>-0.16 0 -0.24 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.15 0.83</size>
</box>
</geometry>
</collision>
<collision name='left_engine_rear_end_collision'>
<pose>-0.34 0 0.12 0 0 0</pose>
<geometry>
<box>
<size>0.12 0.15 0.12</size>
</box>
</geometry>
</collision>
<inertial>
<mass>15</mass>
<inertia>
<ixx>0.889245</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.911125</iyy>
<iyz>0</iyz>
<izz>0.078125</izz>
</inertia>
</inertial>
</link>
<link name='boat/left_propeller_link'>
<pose>-2.651932 1.027135 -0.191134 0 0 0</pose>
<visual name='left_propeller_link_visual'>
<geometry>
<mesh>
<scale>1.0 1.0 1.0</scale>
<uri>model://boat/meshes/propeller.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<collision name='left_propeller_collision'>
<pose>-0.08 0 0 0 1.57 0</pose>
<geometry>
<cylinder>
<radius>0.24</radius>
<length>0.18</length>
</cylinder>
</geometry>
</collision>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.008545</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.008545</iyy>
<iyz>0</iyz>
<izz>0.0144</izz>
</inertia>
</inertial>
</link>
<joint name='boat/imu_joint' type='revolute'>
<child>boat/imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<joint name='boat/left_chasis_engine_joint' type='revolute'>
<child>boat/left_engine_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-3.14</lower>
<upper>3.14</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
</axis>
</joint>
<joint name='boat/left_engine_propeller_joint' type='revolute'>
<child>boat/left_propeller_link</child>
<parent>boat/left_engine_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<effort>100</effort>
<velocity>100</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<friction>0.05</friction>
<damping>0.05</damping>
</dynamics>
</axis>
<use_parent_model_frame>1</use_parent_model_frame>
</joint>
<plugin name="usv_dynamics" filename="libusv_gazebo_dynamics_plugin.so">
<bodyName>base_link</bodyName>
<!-- Must be same as the ocean model!-->
<waterLevel>0</waterLevel>
<waterDensity>997.8</waterDensity>
<!-- Added mass -->
<xDotU>0.0</xDotU>
<yDotV>0.0</yDotV>
<nDotR>0.0</nDotR>
<!-- Linear and quadratic drag -->
<xU>51.3</xU>
<xUU>72.4</xUU>
<yV>40.0</yV>
<yVV>0.0</yVV>
<zW>500.0</zW>
<kP>50.0</kP>
<mQ>50.0</mQ>
<nR>400.0</nR>
<nRR>0.0</nRR>
<!-- General dimensions -->
<!--<boatArea>2.2</boatArea>-->
<hullRadius>0.213</hullRadius>
<boatWidth>2.4</boatWidth>
<boatLength>4.9</boatLength>
<!-- Length discretization, AKA, "N" -->
<length_n>2</length_n>
<!-- Wave model -->
<wave_model>ocean_waves</wave_model>
</plugin>
<plugin name="wamv_gazebo_thrust" filename="libusv_gazebo_thrust_plugin.so">
<cmdTimeout>1.0</cmdTimeout>
<thruster>
<!-- Required Parameters -->
<linkName>boat/left_propeller_link</linkName>
<propJointName>boat/left_engine_propeller_joint</propJointName>
<engineJointName>boat/left_chasis_engine_joint</engineJointName>
<cmdTopic>/gazebo/command/motor_speed</cmdTopic>
<angleTopic>left_thrust_angle</angleTopic>
<enableAngle>true</enableAngle>
<!-- Optional Parameters -->
<mappingType>1</mappingType>
<maxCmd>1.0</maxCmd>
<maxForceFwd>250.0</maxForceFwd>
<maxForceRev>-100.0</maxForceRev>
<maxAngle>1.57</maxAngle>
</thruster>
<!-- <thruster> -->
<!-- Required Parameters -->
<!-- <linkName>right_propeller_link</linkName>
<propJointName>right_engine_propeller_joint</propJointName>
<engineJointName>right_chasis_engine_joint</engineJointName>
<cmdTopic>right_thrust_cmd</cmdTopic>
<angleTopic>right_thrust_angle</angleTopic>
<enableAngle>true</enableAngle>
-->
<!-- Optional Parameters -->
<!-- <mappingType>1</mappingType>
<maxCmd>1.0</maxCmd>
<maxForceFwd>250.0</maxForceFwd>
<maxForceRev>-100.0</maxForceRev>
<maxAngle>1.57</maxAngle>
</thruster>
--> </plugin>
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace></robotNamespace>
<linkName>boat/imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace></robotNamespace>
<gpsNoise>true</gpsNoise>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>20</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>10</pubRate>
<baroTopic>/baro</baroTopic>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace></robotNamespace>
<imuSubTopic>/imu</imuSubTopic>
<gpsSubTopic>/gps</gpsSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_udp_port>14560</mavlink_udp_port>
<serialEnabled>false</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>false</hil_mode>
<hil_state_level>false</hil_state_level>
<enable_lockstep>true</enable_lockstep>
<use_tcp>true</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name="left_propeller_drive">
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>40</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>boat/left_engine_propeller_joint</joint_name>
<joint_control_pid>
<p>50</p>
<i>20</i>
<d>2</d>
<iMax>800</iMax>
<iMin>-800</iMin>
<cmdMax>1200</cmdMax>
<cmdMin>-1200</cmdMin>
</joint_control_pid>
</channel>
</control_channels>
</plugin>
<static>0</static>
</model>
</sdf>
Binary file added models/boat/meshes/WamV.png
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