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4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/models/3d_spacecraft/model.config b/models/3d_spacecraft/model.config new file mode 100644 index 0000000000..c2503a5c5d --- /dev/null +++ b/models/3d_spacecraft/model.config @@ -0,0 +1,15 @@ + + + DART Spacecraft Model + 1.0 + 3d_spacecraft.sdf + + + Pedro Roque, extracted from NASA 3D Models. All rights belong ot NASA. + padr@kth.se + + + + This is a model of the DART Spacecraft. + + diff --git a/src/gazebo_camera_manager_plugin.cpp b/src/gazebo_camera_manager_plugin.cpp index 943a887fc2..17fcdf051a 100644 --- a/src/gazebo_camera_manager_plugin.cpp +++ b/src/gazebo_camera_manager_plugin.cpp @@ -639,7 +639,8 @@ void CameraManagerPlugin::_handle_camera_info(const mavlink_message_t *pMsg, str 0, // lens_id camera_capabilities, // CAP_FLAGS 0, // Camera Definition Version - uri // URI + uri, // URI, + 0 ); _send_mavlink_message(&msg, srcaddr); } diff --git a/src/gazebo_gimbal_controller_plugin.cpp b/src/gazebo_gimbal_controller_plugin.cpp index 900ca586a4..3099820db4 100644 --- a/src/gazebo_gimbal_controller_plugin.cpp +++ b/src/gazebo_gimbal_controller_plugin.cpp @@ -682,7 +682,8 @@ void GimbalControllerPlugin::SendGimbalDeviceInformation() pitchMin, pitchMax, yawMin, - yawMax); + yawMax, + 0); SendMavlinkMessage(msg); } @@ -736,7 +737,8 @@ void GimbalControllerPlugin::SendGimbalDeviceAttitudeStatus() angularVelocity.Z(), failureFlags, NAN, // per mavlink spec - NAN if unknown - NAN); + NAN, + 0); SendMavlinkMessage(msg); } diff --git a/worlds/zero_g.world b/worlds/zero_g.world new file mode 100644 index 0000000000..d5d863c026 --- /dev/null +++ b/worlds/zero_g.world @@ -0,0 +1,29 @@ + + + + + model://sun + + + 0.0 0.0 0.0 + + + quick + 10 + 1.3 + 0 + + + 0 + 0.2 + 100 + 0.001 + + + 0.004 + 1 + 250 + 6.0e-6 2.3e-5 -4.2e-5 + + + \ No newline at end of file