From 5c15c2efc37773c4d5fedb7dca5afe34fc725b19 Mon Sep 17 00:00:00 2001 From: Pedro Roque Date: Mon, 13 May 2024 16:04:14 +0200 Subject: [PATCH 1/3] fix: revert mavlink changes, now compiles with upstream --- src/gazebo_camera_manager_plugin.cpp | 3 ++- src/gazebo_gimbal_controller_plugin.cpp | 6 ++++-- 2 files changed, 6 insertions(+), 3 deletions(-) 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); } From 813d08d56caef20a2a64b41aeafddff242a2633c Mon Sep 17 00:00:00 2001 From: Pedro Roque Date: Mon, 13 May 2024 16:53:27 +0200 Subject: [PATCH 2/3] fix: sdf thruster locations --- models/2d_spacecraft/2d_spacecraft.sdf | 34 +++++++++++++------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/models/2d_spacecraft/2d_spacecraft.sdf b/models/2d_spacecraft/2d_spacecraft.sdf index 7cb8e3ebe8..a2590e152a 100644 --- a/models/2d_spacecraft/2d_spacecraft.sdf +++ b/models/2d_spacecraft/2d_spacecraft.sdf @@ -48,7 +48,7 @@ - 0 0 0 0 -0 0 + -0.12 0.12 0.2 3.14159 1.57079 3.14159 body thruster_0 @@ -74,7 +74,7 @@ 0 0 0 0 -0 0 - -0.12 0.12 0.2 3.14159 1.57079 3.14159 + 0 0 0 0 0 0 0.001 1e-05 @@ -87,7 +87,7 @@ - 0 0 0 0 -0 0 + 0.12 0.12 0.2 3.14159 -1.57079 3.14159 body thruster_1 @@ -113,7 +113,7 @@ 0 0 0 0 -0 0 - 0.12 0.12 0.2 3.14159 -1.57079 3.14159 + 0 0 0 0 0 0 0.001 1e-05 @@ -126,7 +126,7 @@ - 0 0 0 0 -0 0 + -0.12 -0.12 0.2 3.14159 1.57079 3.14159 body thruster_2 @@ -152,7 +152,7 @@ 0 0 0 0 -0 0 - -0.12 -0.12 0.2 3.14159 1.57079 3.14159 + 0 0 0 0 0 0 0.001 1e-05 @@ -165,7 +165,7 @@ - 0 0 0 0 -0 0 + 0.12 -0.12 0.2 3.14159 -1.57079 3.14159 body thruster_3 @@ -191,7 +191,7 @@ 0 0 0 0 -0 0 - 0.12 -0.12 0.2 3.14159 -1.57079 3.14159 + 0 0 0 0 0 0 0.001 1e-05 @@ -204,7 +204,7 @@ - 0 0 0 0 -0 0 + 0.12 0.12 0.2 1.5708 -0 0 body thruster_4 @@ -230,7 +230,7 @@ 0 0 0 0 -0 0 - 0.12 0.12 0.2 1.5708 -0 0 + 0 0 0 0 0 0 0.001 1e-05 @@ -243,7 +243,7 @@ - 0 0 0 0 -0 0 + 0.12 -0.12 0.2 -1.5708 0 0 body thruster_5 @@ -269,7 +269,7 @@ 0 0 0 0 -0 0 - 0.12 -0.12 0.2 -1.5708 0 0 + 0 0 0 0 0 0 0.001 1e-05 @@ -282,7 +282,7 @@ - 0 0 0 0 -0 0 + -0.12 0.12 0.2 1.5708 -0 0 body thruster_6 @@ -308,7 +308,7 @@ 0 0 0 0 -0 0 - -0.12 0.12 0.2 1.5708 -0 0 + 0 0 0 0 0 0 0.001 1e-05 @@ -321,7 +321,7 @@ - 0 0 0 0 -0 0 + -0.12 -0.12 0.2 -1.5708 0 0 body thruster_7 @@ -345,9 +345,9 @@ - 0 0 0 0 -0 0 + 0 0 0 0 0 0 - -0.12 -0.12 0.2 -1.5708 0 0 + 0 0 0 0 0 0 0.001 1e-05 From 4cb2dffd20cabdb05438d54a9529603d2af67ed6 Mon Sep 17 00:00:00 2001 From: Pedro Roque Date: Tue, 14 May 2024 16:06:38 +0200 Subject: [PATCH 3/3] feat: adding zero g world and satellite for demo'ing 3d spacecraft --- models/2d_spacecraft/2d_spacecraft.sdf | 2 +- models/3d_spacecraft/3d_spacecraft.sdf | 717 +++++++++++++++++++++++++ models/3d_spacecraft/meshes/dart.dae | 231 ++++++++ models/3d_spacecraft/model.config | 15 + worlds/zero_g.world | 29 + 5 files changed, 993 insertions(+), 1 deletion(-) create mode 100644 models/3d_spacecraft/3d_spacecraft.sdf create mode 100644 models/3d_spacecraft/meshes/dart.dae create mode 100644 models/3d_spacecraft/model.config create mode 100644 worlds/zero_g.world diff --git a/models/2d_spacecraft/2d_spacecraft.sdf b/models/2d_spacecraft/2d_spacecraft.sdf index a2590e152a..e6bd39ede6 100644 --- a/models/2d_spacecraft/2d_spacecraft.sdf +++ b/models/2d_spacecraft/2d_spacecraft.sdf @@ -42,7 +42,7 @@ 1 1 1 - model://discower_platforms/meshes/proto.dae + model://2d_spacecraft/meshes/proto.dae diff --git a/models/3d_spacecraft/3d_spacecraft.sdf b/models/3d_spacecraft/3d_spacecraft.sdf new file mode 100644 index 0000000000..a5a7eff29e --- /dev/null +++ b/models/3d_spacecraft/3d_spacecraft.sdf @@ -0,0 +1,717 @@ + + + + + 0 0 0.2 0 -0 0 + 12.5 + + 0.1454 + 0 + 0 + 0.1366 + 0 + 0.1594 + + + + 0 0 0.25 0 -0 0 + + + 0.5 + 0.2 + + + + + + 100000 + 100000 + + + + + 0 + 0 + 0 0 1 + + + + + + 0 0 0 0 -0 0 + + + 0.1 0.1 0.1 + model://3d_spacecraft/meshes/dart.dae + + + + 0 + + + -0.12 0.12 0.2 3.14159 1.57079 3.14159 + body + 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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/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