218 lines
7.0 KiB
Plaintext
218 lines
7.0 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<gui>
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<!-- A plugin for controlling the Cessna with the keyboard -->
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<plugin name="cessna_keyboard" filename="libCessnaGUIPlugin.so"/>
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<camera name="user_camera">
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<pose>-16 0 4 0 0 0</pose>
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</camera>
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</gui>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>5000 5000</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1</mu>
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<mu2>1</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="runway">
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<pose>700 0 0.1 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>1829 45</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Runway</name>
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</script>
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</material>
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</visual>
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<visual name="grass">
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<pose>0 0 -0.1 0 0 0</pose>
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<cast_shadows>false</cast_shadows>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>5000 5000</size>
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</plane>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grass</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<model name="cessna_c172">
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<include>
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<uri>model://cessna</uri>
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</include>
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<link name="blade_1_visual">
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<pose>1.79 0 1.350 0 0 0</pose>
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<gravity>0</gravity>
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</link>
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<link name="wing_body_debug_visuals">
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<pose>0 0 0.495 0 0 0</pose>
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<gravity>0</gravity>
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</link>
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<!-- Plugins for controlling the thrust and control surfaces -->
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<plugin name="cessna_control" filename="libCessnaPlugin.so">
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<propeller>cessna_c172::propeller_joint</propeller>
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<propeller_max_rpm>2500</propeller_max_rpm>
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<left_aileron>cessna_c172::left_aileron_joint</left_aileron>
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<left_flap>cessna_c172::left_flap_joint</left_flap>
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<right_aileron>cessna_c172::right_aileron_joint</right_aileron>
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<right_flap>cessna_c172::right_flap_joint</right_flap>
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<elevators>cessna_c172::elevators_joint</elevators>
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<rudder>cessna_c172::rudder_joint</rudder>
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<propeller_p_gain>10000</propeller_p_gain>
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<propeller_i_gain>0</propeller_i_gain>
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<propeller_d_gain>0</propeller_d_gain>
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<surfaces_p_gain>2000</surfaces_p_gain>
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<surfaces_i_gain>0</surfaces_i_gain>
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<surfaces_d_gain>0</surfaces_d_gain>
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</plugin>
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<plugin name="propeller_top_blade" filename="libLiftDragPlugin.so">
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<a0>0.4</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0</cma>
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<alpha_stall>1.5</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-0.37 0 0.77</cp>
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<area>0.1</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>1 0 0</upward>
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<link_name>cessna_c172::propeller</link_name>
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</plugin>
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<plugin name="propeller_bottom_blade" filename="libLiftDragPlugin.so">
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<a0>0.4</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0</cma>
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<alpha_stall>1.5</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-0.37 0 -0.77</cp>
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<area>0.1</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>1 0 0</upward>
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<link_name>cessna_c172::propeller</link_name>
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</plugin>
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<plugin name="left_wing" filename="libLiftDragPlugin.so">
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<a0>0.05984281113</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>-1.8</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-1 2.205 1.5</cp>
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<area>8.08255</area>
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 0 1</upward>
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<link_name>cessna_c172::body</link_name>
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<control_joint_name>cessna_c172::left_aileron_joint</control_joint_name>
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<control_joint_rad_to_cl>-2.0</control_joint_rad_to_cl>
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</plugin>
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<plugin name="right_wing" filename="libLiftDragPlugin.so">
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<a0>0.05984281113</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>-1.8</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-1 -2.205 1.5</cp>
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<area>8.08255</area>
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 0 1</upward>
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<link_name>cessna_c172::body</link_name>
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<control_joint_name>
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cessna_c172::right_aileron_joint
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</control_joint_name>
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<control_joint_rad_to_cl>-2.0</control_joint_rad_to_cl>
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</plugin>
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<plugin name="elevator" filename="libLiftDragPlugin.so">
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<a0>-0.2</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>-1.8</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-5.45 0 0.55</cp>
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<area>2.03458</area>
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 0 1</upward>
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<link_name>cessna_c172::body</link_name>
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<control_joint_name>cessna_c172::elevators_joint</control_joint_name>
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<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
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</plugin>
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<plugin name="rudder" filename="libLiftDragPlugin.so">
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<a0>0</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>-1.8</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-6 0 1.55</cp>
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<area>1.5329</area>
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 1 0</upward>
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<link_name>cessna_c172::body</link_name>
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<control_joint_name>cessna_c172::rudder_joint</control_joint_name>
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<control_joint_rad_to_cl>4.0</control_joint_rad_to_cl>
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</plugin>
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</model>
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</world>
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</sdf>
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