Skip to content
Commits on Source (7)
Expand all Hide whitespace changes
Inline Side-by-side
meshes/new_prop.mtl 0 → 100644
View file @ 1abe95a6
# Blender 4.3.2 MTL File: 'None'
# www.blender.org
newmtl mat_1
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_10
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_11
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_12
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_13
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_14
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_15
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_2
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_3
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_4
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_5
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_6
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_7
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_8
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_9
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
meshes/new_prop.obj 0 → 100644
View file @ 1abe95a6
This diff is collapsed.
meshes/new_waterstrider.mtl 0 → 100644
View file @ 1abe95a6
# Blender 4.3.2 MTL File: 'None'
# www.blender.org
newmtl mat_1
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_10
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_11
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_12
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_13
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_14
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_15
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_2
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_3
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_4
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_5
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_6
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_7
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_8
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
newmtl mat_9
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 1
meshes/new_waterstrider.obj 0 → 100644
View file @ 1abe95a6
This diff is collapsed.
meshes/prop.obj 0 → 100644
View file @ 1abe95a6
This diff is collapsed.
meshes/untitled.mtl 0 → 100644
View file @ 1abe95a6
# Blender 4.3.2 MTL File: 'None'
# www.blender.org
meshes/untitled.obj 0 → 100644
View file @ 1abe95a6
# Blender 4.3.2
# www.blender.org
mtllib untitled.mtl
src/thrusters_controller_node.cpp
View file @ 1abe95a6
......@@ -126,7 +126,7 @@ public:
assert(r.size() == 3);
std::vector<double> input = declare_parameter<std::vector<double>>("thrusters." + t.first + ".input");
std::vector<double> output = declare_parameter<std::vector<double>>("thrusters." + t.first + ".output");
std::vector<double> output = declare_parameter<std::vector<double>>("thrusters." + t.first + ".sim_output");
auto pub = this->create_publisher<uuv_gazebo_ros_plugins_msgs::msg::FloatStamped>("thrusters/" + t.first, 1);
......
urdf/sensor_snippets.xacro
View file @ 1abe95a6
......@@ -2,21 +2,21 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="default_camera_lightweight" params="namespace parent_link suffix *origin">
<xacro:macro name="default_camera_lightweight" params="namespace parent_link suffix rate hfov width height *origin">
<xacro:regular_camera_plugin_macro
namespace="${namespace}"
suffix="${suffix}"
parent_link="${parent_link}"
topic="camera"
mass="0.001"
update_rate="20"
hfov="1.5125"
width="640"
height="480"
stddev="0.0"
scale="0.4">
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
<xacro:insert_block name="origin" />
namespace="${namespace}"
suffix="${suffix}"
parent_link="${parent_link}"
topic="camera"
mass="0.001"
update_rate="${rate}"
hfov="${hfov}"
width="${width}"
height="${height}"
stddev="0.0"
scale="1">
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
<xacro:insert_block name="origin" />
</xacro:regular_camera_plugin_macro>
</xacro:macro>
......
urdf/waterstrider.gazebo.xacro
View file @ 1abe95a6
......@@ -42,9 +42,9 @@
<height>0.256</height>
</box>
<center_of_buoyancy>${cob}</center_of_buoyancy>
<metacentric_width>0.448</metacentric_width>
<metacentric_length>5</metacentric_length>
<submerged_height>0.22</submerged_height>
<metacentric_width>0.224</metacentric_width>
<metacentric_length>50</metacentric_length>
<submerged_height>0.12</submerged_height>
<hydrodynamic_model>
<type>fossen</type>
<added_mass>
......@@ -53,13 +53,13 @@
0 0 0.1 0 0 0
0 0 0 0.1 0 0
0 0 0 0 0.1 0
0 0 0 0 0 1
0 0 0 0 0 0.1
</added_mass>
<linear_damping>
-20 -20 -20 -20 -20 -20
-0 -20 -20 -20 -20 -1.5
</linear_damping>
<quadratic_damping>
-10.0 -10.0 -10.0 -50.0 -50.0 -50.0
-20.0 -10.0 -10.0 -50.0 -50.0 -7.0
</quadratic_damping>
</hydrodynamic_model>
......
urdf/waterstrider_actuators.xacro
View file @ 1abe95a6
......@@ -22,7 +22,7 @@
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/prop.dae"/>
<xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/untitled.obj"/>
<!-- Thruster joint and link snippet -->
<xacro:macro name="thruster_macro"
......@@ -31,7 +31,7 @@
namespace="${namespace}"
thruster_id="${thruster_id}"
mesh_filename="${prop_mesh_file}"
dyn_time_constant="0.2"
dyn_time_constant="0.1"
rotor_constant="0.00124">
<xacro:insert_block name="origin"/>
</xacro:thruster_module_first_order_basic_fcn_macro>
......
urdf/waterstrider_base.xacro
View file @ 1abe95a6
......@@ -43,7 +43,7 @@
<xacro:property name="prop_mesh_file" value="file://$(find waterstridergazebo)/meshes/prop.dae"/>
<!-- Mass, see p.28 in Berg2012 -->
<xacro:property name="mass" value="8.0"/>
<xacro:property name="mass" value="10.0"/>
<xacro:macro name="waterstrider_base" params="namespace *gazebo inertial_reference_frame">
<!-- base_link according to ROS conventions: x forward, z up -->
......
urdf/waterstrider_sensors.xacro
View file @ 1abe95a6
......@@ -21,47 +21,28 @@
limitations under the License.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- DVL -->
<xacro:default_dvl_macro
namespace="${namespace}"
parent_link="${namespace}/base_link"
inertial_reference_frame="${inertial_reference_frame}">
<origin xyz="0 0 -0" rpy="0 ${0.5*pi} 0"/>
</xacro:default_dvl_macro>
<!-- IMU -->
<xacro:default_imu_macro
namespace="${namespace}"
parent_link="${namespace}/base_link"
inertial_reference_frame="${inertial_reference_frame}">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:default_imu_macro>
<!-- Mount a sonar -->
<xacro:default_echosounder namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_echo">
<origin xyz="0 0 0" rpy="0 ${90 * d2r} 0" />
</xacro:default_echosounder>
<!-- Mount a GPS. -->
<xacro:default_gps namespace="${namespace}" parent_link="${namespace}/base_link" />
<!-- Mount a Pose 3D sensor. -->
<xacro:default_pose_3d_macro
namespace="${namespace}"
parent_link="${namespace}/base_link"
inertial_reference_frame="${inertial_reference_frame}" />
<!-- Mount a camera -->
<xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_front_cam">
<origin xyz="0.2 0 0.2" rpy="0 0 0"/>
<!--fov 90 1.5707963267948966, 120 2.0943951023931953 (bad work), 170 2.9670597283903604 (bad work)-->
<xacro:default_camera_lightweight
namespace="${namespace}"
parent_link="${namespace}/base_link"
suffix="_front"
rate="20"
hfov="2.0943951023931953"
width="640"
height="480">
<origin xyz="0.10 0 0.25" rpy="0 0 0"/>
</xacro:default_camera_lightweight>
<xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_down_cam">
<origin xyz="0.2 0 -0.1" rpy="0 ${90 * d2r} 0"/>
</xacro:default_camera_lightweight>
<xacro:default_camera_lightweight namespace="${namespace}" parent_link="${namespace}/base_link" suffix="_side_cam">
<origin xyz="0.195 0.2 0.2" rpy="0 0 ${90 * d2r}"/>
<xacro:default_camera_lightweight
namespace="${namespace}"
parent_link="${namespace}/base_link"
suffix="_down"
rate="20"
hfov="2.0943951023931953"
width="640"
height="480">
<origin xyz="-0.2 0 -0.05" rpy="0 ${90 * d2r} 0"/>
</xacro:default_camera_lightweight>
</robot>