273 lines
7.2 KiB
XML
273 lines
7.2 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.4">
|
|
<world name="default">
|
|
<physics type="ode">
|
|
<gravity>0.0 0.0 0.0</gravity>
|
|
<ode>
|
|
<solver>
|
|
<type>quick</type>
|
|
<iters>1500</iters>
|
|
<sor>1.0</sor>
|
|
</solver>
|
|
<constraints>
|
|
<cfm>0.0</cfm>
|
|
<erp>0.2</erp>
|
|
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
|
|
<contact_surface_layer>0.0</contact_surface_layer>
|
|
</constraints>
|
|
</ode>
|
|
<real_time_update_rate>0</real_time_update_rate>
|
|
<max_step_size>0.001</max_step_size>
|
|
</physics>
|
|
<include>
|
|
<uri>model://sun</uri>
|
|
</include>
|
|
|
|
<model name="ground_plane">
|
|
<static>true</static>
|
|
<link name="link">
|
|
<collision name="collision">
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>1000 1000</size>
|
|
</plane>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1</mu>
|
|
<mu2>1</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<cast_shadows>false</cast_shadows>
|
|
<geometry>
|
|
<plane>
|
|
<normal>0 0 1</normal>
|
|
<size>1000 1000</size>
|
|
</plane>
|
|
</geometry>
|
|
<material>
|
|
<script>
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
|
<name>Gazebo/Grey</name>
|
|
</script>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
|
|
<model name="lift_drag_demo_model">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<static>false</static>
|
|
|
|
<link name="body">
|
|
<pose>3.0 0 1.5 0 0 0</pose>
|
|
<inertial>
|
|
<pose>0.0 0 0 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.465</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.006</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.470</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.0 0 0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.2</radius>
|
|
</sphere>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.0 0 0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<sphere>
|
|
<radius>0.2</radius>
|
|
</sphere>
|
|
</geometry>
|
|
<material>
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="wing_1">
|
|
<pose>3 0 1.5 0.1 0 0</pose>
|
|
<inertial>
|
|
<pose>0.0 5.5 0 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.465</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.006</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.470</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.0 5.5 0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.0 10.0 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.0 5.5 0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.0 10.0 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<ambient>0.5 0.2 0.2 1.0</ambient>
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name="wing_2">
|
|
<pose>3 0 1.5 -0.1 0 0</pose>
|
|
<inertial>
|
|
<pose>0.0 -5.5 0 0.0 0.0 0.0</pose>
|
|
<inertia>
|
|
<ixx>0.465</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.006</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.470</izz>
|
|
</inertia>
|
|
<mass>1.0</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0.0 -5.5 0 0.0 0.0 0.0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.0 10.0 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0.0 -5.5 0 0.0 0.0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.0 10.0 0.01</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<ambient>0.2 0.5 0.2 1.0</ambient>
|
|
<diffuse>.421 0.225 0.0 1.0</diffuse>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="body_joint" type="prismatic">
|
|
<parent>world</parent>
|
|
<child>body</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>1.0 0.0 0.0</xyz>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>true</provide_feedback>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
|
|
<joint name="wing_1_joint" type="revolute">
|
|
<parent>body</parent>
|
|
<child>wing_1</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 0.0 1</xyz>
|
|
<limit>
|
|
<upper>0</upper>
|
|
<lower>0</lower>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>true</provide_feedback>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<joint name="wing_2_joint" type="revolute">
|
|
<parent>body</parent>
|
|
<child>wing_2</child>
|
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 0.0 1</xyz>
|
|
<limit>
|
|
<upper>0</upper>
|
|
<lower>0</lower>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.000000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<provide_feedback>true</provide_feedback>
|
|
<ode>
|
|
<cfm_damping>1</cfm_damping>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
|
|
|
|
<plugin name="gazebo_wing_1" filename="libLiftDragPlugin.so">
|
|
<a0>0.1</a0>
|
|
<cla>4.000</cla>
|
|
<cda>20.0</cda>
|
|
<cma>0.00</cma>
|
|
<alpha_stall>10.0</alpha_stall>
|
|
<cla_stall>-0.2</cla_stall>
|
|
<cda_stall>1.0</cda_stall>
|
|
<cma_stall>0.0</cma_stall>
|
|
<cp>0.0 5.0 0</cp>
|
|
<area>10</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>-1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>lift_drag_demo_model::wing_1</link_name>
|
|
</plugin>
|
|
<plugin name="gazebo_wing_2" filename="libLiftDragPlugin.so">
|
|
<a0>0.1</a0>
|
|
<cla>4.000</cla>
|
|
<cda>20.0</cda>
|
|
<cma>0.00</cma>
|
|
<alpha_stall>10.0</alpha_stall>
|
|
<cla_stall>-0.2</cla_stall>
|
|
<cda_stall>1.0</cda_stall>
|
|
<cma_stall>0.0</cma_stall>
|
|
<cp>0.0 -5.0 0</cp>
|
|
<area>10</area>
|
|
<air_density>1.2041</air_density>
|
|
<forward>-1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>lift_drag_demo_model::wing_2</link_name>
|
|
</plugin>
|
|
|
|
|
|
</model>
|
|
</world>
|
|
</sdf>
|