Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add omnidirectional boat model and ocean world #36

Draft
wants to merge 10 commits into
base: main
Choose a base branch
from
Draft

Add omnidirectional boat model and ocean world #36

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
790f915
Add buoayncy to ocean model
PyroX2 Feb 25, 2024
3061185
Add hydrodynamics and color
PyroX2 Feb 26, 2024
d5cb557
Add meshes and model.config
PyroX2 Feb 26, 2024
5dfcaaa
Add thrusters and change inertia
PyroX2 Mar 5, 2024
e3a3ffc
Use ASV_RYBITWA.stl model
PyroX2 Mar 16, 2024
3d434e5
Refactor
PyroX2 Mar 16, 2024
b5721ca
Use lighter mesh
PyroX2 Mar 17, 2024
0a57867
Changing coordinates for Sarasoza
Mateusz-best-creator Apr 30, 2024
2a130ca
Correct rover model.sdf
PyroX2 May 1, 2024
304709c
Merge pull request #1 from Mateusz-best-creator/omni-boat
PyroX2 May 20, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions models/r1_rover/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<sdf version='1.6'>
<model name='r1_rover'>
<model name='r1_rover'>
<link name='base_link'>
<pose>0 0 0 0 -0 0</pose>
<inertial>
Expand Down Expand Up @@ -221,7 +221,7 @@
</axis>
</joint>
<link name='lb_wheel_link'>
pose>-0.15 0.16317 0.0215 0 -0 0</pose>
<pose>-0.15 0.16317 0.0215 0 -0 0</pose>
<inertial>
<pose>0 0 0 1.57079632679 0 0</pose>
<mass>0.414</mass>
Expand Down Expand Up @@ -319,7 +319,7 @@
</inertia>
</inertial>
<collision name='rf_wheel_link_collision'>
pose>0 0 0 1.57079632679 0 0</pose>
<pose>0 0 0 1.57079632679 0 0</pose>
<geometry>
<cylinder>
<radius>0.0686</radius>
Expand Down
Binary file added models/sese_omni_boat/meshes/ASV_RYBITWA.stl
View file
Open in desktop
Binary file not shown.
69 changes: 69 additions & 0 deletions models/sese_omni_boat/meshes/prop.dae
View file
Open in desktop

Large diffs are not rendered by default.

17 changes: 17 additions & 0 deletions models/sese_omni_boat/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0"?>

<model>
<name>SeSe Omni Boat</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>TODO</name>
<email>TODO</email>
</author>

<description>
Modified model of the BlueROV2 4 thrusters. TODO
</description>

</model>
323 changes: 323 additions & 0 deletions models/sese_omni_boat/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,323 @@
<?xml version="1.0" encoding="UTF-8"?>
<sdf version='1.9'>
<model name="sese_omni_boat">
<pose>0 0 0 0 0 0</pose>
<self_collide>false</self_collide>
<static>false</static>
<link name="base_link">
<velocity_decay />
<inertial>
<mass>30</mass>
<inertia>
<ixx>3.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.65</iyy>
<iyz>0</iyz>
<izz>4.53</izz>
</inertia>
</inertial>
<visual name="base_link_visual">
<pose>0 0 0 0 0 -1.57</pose>
<geometry>
<mesh>
<uri>model://sese_omni_boat/meshes/ASV_RYBITWA.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
</material>
</visual>
<collision name="base_link_collision_1">
<pose>0 0 0.1 0 0 0</pose>
<geometry>
<box>
<size>0.55 1.3 0.37</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<min_depth>0.001</min_depth>
<max_vel>0</max_vel>
</ode>
</contact>
<friction>
<ode />
</friction>
</surface>
</collision>
<sensor name="air_pressure_sensor" type="air_pressure">
<always_on>1</always_on>
<update_rate>50</update_rate>
<air_pressure>
<pressure>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</pressure>
</air_pressure>
</sensor>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>250</update_rate>
</sensor>
<sensor name="navsat_sensor" type="navsat">
<always_on>1</always_on>
<update_rate>30</update_rate>
</sensor>
</link>


<link
name="thruster1">
<velocity_decay />
<pose>-0.225 0.4 -0.19 0 0 -0.785</pose>
<visual name="thruster_prop_visual">
<pose>0 0 0 -1.571 0 0</pose>
<geometry>
<mesh>
<uri>meshes/prop.dae</uri>
</mesh>
</geometry>
<material>
<!-- Blue for clockwise -->
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
<inertial>
<mass>0.002</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
</link>
<link
name="thruster2">
<velocity_decay />
<pose>0.225 0.4 -0.19 0 0 0.785</pose>
<visual name="thruster_prop_visual">
<pose>0 0 0 -1.571 0 0</pose>
<geometry>
<mesh>
<uri>meshes/prop.dae</uri>
</mesh>
</geometry>
<material>
<!-- Green for counterclockwise -->
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
<inertial>
<mass>0.002</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
</link>
<link
name="thruster3">
<velocity_decay />
<pose>-0.225 -0.4 -0.19 0 0 0.785</pose>
<visual name="thruster_prop_visual">
<pose>0 0 0 1.571 0 0</pose>
<geometry>
<mesh>
<uri>meshes/prop.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
<inertial>
<mass>0.002</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
</link>
<link
name="thruster4">
<velocity_decay />
<pose>0.225 -0.4 -0.19 0 0 -0.785</pose>
<visual name="thruster_prop_visual">
<pose>0 0 0 1.571 0 0</pose>
<geometry>
<mesh>
<uri>meshes/prop.dae</uri>
</mesh>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
<inertial>
<mass>0.002</mass>
<inertia>
<ixx>0.001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001</iyy>
<iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
</link>

<joint
name="thruster1_joint" type="revolute">
<parent>base_link</parent>
<child>thruster1</child>
<axis>
<xyz>0 0 -1</xyz>
</axis>
</joint>
<joint name="thruster2_joint"
type="revolute">
<parent>base_link</parent>
<child>thruster2</child>
<axis>
<xyz>0 0 -1</xyz>
</axis>
</joint>
<joint name="thruster3_joint"
type="revolute">
<parent>base_link</parent>
<child>thruster3</child>
<axis>
<xyz>0 0 -1</xyz>
</axis>
</joint>
<joint name="thruster4_joint"
type="revolute">
<parent>base_link</parent>
<child>thruster4</child>
<axis>
<xyz>0 0 -1</xyz>
</axis>
</joint>

<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>sese_omni_boat</namespace>
<joint_name>thruster1_joint</joint_name>
<thrust_coefficient>0.02</thrust_coefficient>
<fluid_density>1000.0</fluid_density>
<propeller_diameter>0.1</propeller_diameter>
<velocity_control>true</velocity_control>
<use_angvel_cmd>False</use_angvel_cmd>
</plugin>
<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>sese_omni_boat</namespace>
<joint_name>thruster2_joint</joint_name>
<thrust_coefficient>0.02</thrust_coefficient>
<fluid_density>1000.0</fluid_density>
<propeller_diameter>0.1</propeller_diameter>
<velocity_control>true</velocity_control>
<use_angvel_cmd>False</use_angvel_cmd>
</plugin>
<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>sese_omni_boat</namespace>
<joint_name>thruster3_joint</joint_name>
<thrust_coefficient>-0.02</thrust_coefficient>
<fluid_density>
1000.0</fluid_density>
<propeller_diameter>0.1</propeller_diameter>
<velocity_control>true</velocity_control>
<use_angvel_cmd>
False</use_angvel_cmd>
</plugin>
<plugin
filename="gz-sim-thruster-system"
name="gz::sim::systems::Thruster">
<namespace>sese_omni_boat</namespace>
<joint_name>thruster4_joint</joint_name>
<thrust_coefficient>-0.02</thrust_coefficient>
<fluid_density>1000.0</fluid_density>
<propeller_diameter>0.1</propeller_diameter>
<velocity_control>true</velocity_control>
<use_angvel_cmd>False</use_angvel_cmd>
</plugin>

<plugin
filename="ignition-gazebo-pose-publisher-system"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_nested_model_pose>true</publish_nested_model_pose>
<update_frequency>20</update_frequency>
</plugin>
<plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>thruster1_joint</joint_name>
<p_gain>0.1</p_gain>
</plugin>

<!-- <plugin
filename="gz-sim-joint-position-controller-system"
name="gz::sim::systems::JointPositionController">
<joint_name>vertical_fins_joint</joint_name>
<p_gain>0.1</p_gain>
</plugin> -->

<plugin
filename="gz-sim-hydrodynamics-system"
name="gz::sim::systems::Hydrodynamics">
<link_name>base_link</link_name>
<xDotU>-0.04876161</xDotU>
<yDotV>-1.26324739</yDotV>
<zDotW>-1.26324739</zDotW>
<kDotP>0</kDotP>
<mDotQ>-0.3346</mDotQ>
<nDotR>-0.3346</nDotR>
<xUabsU>-0.62282</xUabsU>
<xU>-5</xU>
<yVabsV>-60.127</yVabsV>
<yV>-5</yV>
<zWabsW>-6.0127</zWabsW>
<zW>-100</zW>
<kPabsP>-0.001916</kPabsP>
<kP>-1</kP>
<mQabsQ>-6.32698957</mQabsQ>
<mQ>-1</mQ>
<nRabsR>-6.32698957</nRabsR>
<nR>-1</nR>
</plugin>
</model>
</sdf>
Loading