Model Submission for JHUAPL Edge540XL sensor config 1 and uav simulation plugin #869
Conversation
| ``` | ||
| rostopic pub -r10 /edge540xl/input mav_msgs/Actuators "angular_velocities: [0.3, 0.3, 0.3, 15.0]" | ||
| ``` | ||
| This commands the angular velocities of the aileron, elevator, and rudder, with thrust at the end. |
There was a problem hiding this comment.
I launched using the command above and was unable to see any response from the vehicle when commanding the actuators. Were you able to command the actuators on your side?
|
|
||
| At this point you can control the vehicle model with a actuator command, for example: | ||
| ``` | ||
| rostopic pub -r10 /edge540xl/input mav_msgs/Actuators "angular_velocities: [0.3, 0.3, 0.3, 15.0]" |
| This Edge540XL with sensor configuration 1 includes the following sensors. | ||
|
|
||
| * Depth Camera - Intel Realsense D435, modeled by `rgbd_camera` plugin | ||
|
|
There was a problem hiding this comment.
Please include the IMU in this section.
| </sensor> | ||
| <sensor name="camera_front" type="rgbd_camera"> | ||
| <camera name="camera_front"> | ||
| <horizontal_fov>1.0472</horizontal_fov> |
There was a problem hiding this comment.
Please change the HFoV to 1.5184 to align with the SubT standard for the D435.
| <intrinsics> | ||
| <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) --> | ||
| <fx>277.1</fx> | ||
| <fy>277.1</fy> |
There was a problem hiding this comment.
Please change fx/fx to 168.61097 to align with the SubT standard for the D435.
| <arg name="breadcrumbs" default="0"/> | ||
|
|
||
| <group ns="$(arg name)"> | ||
|
|
There was a problem hiding this comment.
Please add an Ignition to ROS bridge node for your IMU sensor. Example
|
Please add a gas sensor, barometer, and magnetometer to the platform to fulfill the baseline sensing modality for a UAV: |
| ### Control | ||
| A high-level controller that takes in a goal Pose will be released in the future. | ||
|
|
||
| ### Motion Characteristics |
There was a problem hiding this comment.
Please include motion and endurance characteristics: velocity and acceleration limits, minimum turning radius, battery life, etc.
This pull requests adds an initial Edge540XL fixed-wing model with a Gazebo Ignition plugin to simulate the dynamics by applying control surface velocities and thrust via an Actuators message. The model is updated with JointVelocityCmd per control surface and AddWorldWrench with computed forces.