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Update MulticopterMotorModel tests.
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Signed-off-by: Benjamin Perseghetti <[email protected]>
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@bperseghetti
bperseghetti committed May 2, 2023
1 parent ff5ca13 commit 7c61f1b
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Showing 6 changed files with 483 additions and 483 deletions.
334 changes: 167 additions & 167 deletions examples/worlds/multicopter_velocity_control.sdf
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120 changes: 60 additions & 60 deletions examples/worlds/quadcopter.sdf
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Expand Up @@ -83,82 +83,82 @@
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>X3/rotor_0_joint</jointName>
<linkName>X3/rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>X3/rotor_0_joint</joint_name>
<link_name>X3/rotor_0</link_name>
<turning_direction>ccw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>800.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>X3/rotor_1_joint</jointName>
<linkName>X3/rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>X3/rotor_1_joint</joint_name>
<link_name>X3/rotor_1</link_name>
<turning_direction>ccw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>800.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>X3/rotor_2_joint</jointName>
<linkName>X3/rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>X3/rotor_2_joint</joint_name>
<link_name>X3/rotor_2</link_name>
<turning_direction>cw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>800.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>X3/rotor_3_joint</jointName>
<linkName>X3/rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>800.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>X3/rotor_3_joint</joint_name>
<link_name>X3/rotor_3</link_name>
<turning_direction>cw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>800.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
</include>
</world>
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122 changes: 61 additions & 61 deletions test/worlds/odometry_publisher_3d.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -263,87 +263,87 @@
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>8000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>rotor_0_joint</joint_name>
<link_name>rotor_0</link_name>
<turning_direction>ccw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>8000.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>0</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>8000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>rotor_1_joint</joint_name>
<link_name>rotor_1</link_name>
<turning_direction>ccw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>8000.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>1</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>8000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>rotor_2_joint</joint_name>
<link_name>rotor_2</link_name>
<turning_direction>cw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>8000.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>2</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
<robotNamespace>X3</robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>8000.0</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.016</momentConstant>
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
<robot_namespace>X3</robot_namespace>
<joint_name>rotor_3_joint</joint_name>
<link_name>rotor_3</link_name>
<turning_direction>cw</turning_direction>
<time_constant_up>0.0125</time_constant_up>
<time_constant_down>0.025</time_constant_down>
<max_rot_velocity>8000.0</max_rot_velocity>
<motor_constant>8.54858e-06</motor_constant>
<moment_constant>0.016</moment_constant>
<sub_topic>gazebo/command/motor_speed</sub_topic>
<actuator_number>3</actuator_number>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
<rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
<rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
<motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
<rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
<motor_type>velocity</motor_type>
</plugin>
<plugin
filename="gz-sim-multicopter-control-system"
name="gz::sim::systems::MulticopterVelocityControl">
<robotNamespace>X3</robotNamespace>
<robot_namespace>X3</robot_namespace>
<commandSubTopic>gazebo/command/twist</commandSubTopic>
<enableSubTopic>enable</enableSubTopic>
<comLinkName>base_link</comLinkName>
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