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<package> | ||
<name>rotors_comm</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>RotorS specific messages and services.</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rotors_control</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>RotorS control package</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rotors_description</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The rotors_description package provides URDF models of the AscTec multicopters.</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<?xml version="1.0"?> | ||
<!-- | ||
Copyright 2020 Giuseppe Silano, University of Sannio in Benevento, Italy | ||
Copyright 2018 Emanuele Aucone, University of Sannio in Benevento, Italy | ||
Copyright 2018 Benjamin Rodriguez, MIT, USA | ||
Copyright 2018 Luigi Iannelli, University of Sannio in Benevento, Italy | ||
Copyright 2020 Ria Sonecha, MIT, USA | ||
Licensed under the Apache License, Version 2.0 (the "License"); | ||
you may not use this file except in compliance with the License. | ||
You may obtain a copy of the License at | ||
http://www.apache.org/licenses/LICENSE-2.0 | ||
Unless required by applicable law or agreed to in writing, software | ||
distributed under the License is distributed on an "AS IS" BASIS, | ||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
See the License for the specific language governing permissions and | ||
limitations under the License. | ||
--> | ||
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<robot name="crazyflie2" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
<!-- Properties (Taken from Novel Dynamic Inversion Architecture Design for Quadrocopter Control by Jian Wang et al.) --> | ||
<xacro:property name="namespace" value="$(arg namespace)" /> | ||
<xacro:property name="rotor_velocity_slowdown_sim" value="50" /> | ||
<xacro:property name="use_mesh_file" value="true" /> | ||
<xacro:property name="mesh_file" value="package://rotors_description/meshes/crazyflie2.dae" /> | ||
<xacro:property name="mass" value="0.025" /> <!-- [kg] --> | ||
<xacro:property name="body_width" value="0.045" /> <!-- [m] --> | ||
<xacro:property name="body_height" value="0.03" /> <!-- [m] --> | ||
<xacro:property name="mass_rotor" value="0.0005" /> <!-- [kg] --> | ||
<xacro:property name="arm_length" value="0.046" /> <!-- [m] --> | ||
<xacro:property name="rotor_offset_top" value="0.024" /> <!-- [m] --> | ||
<xacro:property name="radius_rotor" value="0.0225" /> <!-- [m] --> | ||
<xacro:property name="sin45" value="0.707106781186" /> | ||
<xacro:property name="cos45" value="0.707106781186" /> | ||
<!-- Forster's --> | ||
<xacro:property name="motor_constant" value="1.71465181e-08" /> <!-- [kg m/s^2] --> | ||
<xacro:property name="moment_constant" value="0.004459273" /> <!-- [m] --> | ||
<xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] --> | ||
<xacro:property name="time_constant_down" value="0.025" /> <!-- [s] --> | ||
<xacro:property name="max_rot_velocity" value="3052" /> <!-- [rad/s] --> | ||
<xacro:property name="rotor_drag_coefficient" value="1.066428e-06" /> | ||
<xacro:property name="rolling_moment_coefficient" value="0" /> | ||
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<!-- Property Blocks --> | ||
<xacro:property name="body_inertia"> | ||
<inertia ixx="1.657171e-05" ixy="0.0" ixz="0.0" iyy="1.657171e-05" iyz="0.0" izz="2.9261652e-05" /> | ||
</xacro:property> | ||
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<!-- inertia of a single rotor, assuming it is a cuboid. Height=0.4mm, width=0.8mm --> | ||
<xacro:property name="rotor_inertia"> | ||
<xacro:box_inertia x="${radius_rotor}" y="0.007" z="0.003" mass="${mass_rotor*rotor_velocity_slowdown_sim}" /> | ||
</xacro:property> | ||
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<!-- Included URDF Files --> | ||
<xacro:include filename="$(find rotors_description)/urdf/multirotor_base.xacro" /> | ||
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<!-- Instantiate multirotor_base_macro once --> | ||
<xacro:multirotor_base_macro | ||
robot_namespace="${namespace}" | ||
mass="${mass}" | ||
body_width="${body_width}" | ||
body_height="${body_height}" | ||
use_mesh_file="${use_mesh_file}" | ||
mesh_file="${mesh_file}"> | ||
<xacro:insert_block name="body_inertia" /> | ||
</xacro:multirotor_base_macro> | ||
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<!-- Instantiate rotors --> | ||
<xacro:vertical_rotor | ||
robot_namespace="${namespace}" | ||
suffix="front-right" | ||
direction="ccw" | ||
motor_constant="${motor_constant}" | ||
moment_constant="${moment_constant}" | ||
parent="${namespace}/base_link" | ||
mass_rotor="${mass_rotor}" | ||
radius_rotor="${radius_rotor}" | ||
time_constant_up="${time_constant_up}" | ||
time_constant_down="${time_constant_down}" | ||
max_rot_velocity="${max_rot_velocity}" | ||
motor_number="0" | ||
rotor_drag_coefficient="${rotor_drag_coefficient}" | ||
rolling_moment_coefficient="${rolling_moment_coefficient}" | ||
color="Red" | ||
use_own_mesh="false" | ||
mesh=""> | ||
<origin xyz="${cos45*arm_length} -${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" /> | ||
<xacro:insert_block name="rotor_inertia" /> | ||
</xacro:vertical_rotor> | ||
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<xacro:vertical_rotor | ||
robot_namespace="${namespace}" | ||
suffix="back-right" | ||
direction="cw" | ||
motor_constant="${motor_constant}" | ||
moment_constant="${moment_constant}" | ||
parent="${namespace}/base_link" | ||
mass_rotor="${mass_rotor}" | ||
radius_rotor="${radius_rotor}" | ||
time_constant_up="${time_constant_up}" | ||
time_constant_down="${time_constant_down}" | ||
max_rot_velocity="${max_rot_velocity}" | ||
motor_number="1" | ||
rotor_drag_coefficient="${rotor_drag_coefficient}" | ||
rolling_moment_coefficient="${rolling_moment_coefficient}" | ||
color="Blue" | ||
use_own_mesh="false" | ||
mesh=""> | ||
<origin xyz="-${cos45*arm_length} -${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" /> | ||
<xacro:insert_block name="rotor_inertia" /> | ||
</xacro:vertical_rotor> | ||
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<xacro:vertical_rotor | ||
robot_namespace="${namespace}" | ||
suffix="back-left" | ||
direction="ccw" | ||
motor_constant="${motor_constant}" | ||
moment_constant="${moment_constant}" | ||
parent="${namespace}/base_link" | ||
mass_rotor="${mass_rotor}" | ||
radius_rotor="${radius_rotor}" | ||
time_constant_up="${time_constant_up}" | ||
time_constant_down="${time_constant_down}" | ||
max_rot_velocity="${max_rot_velocity}" | ||
motor_number="2" | ||
rotor_drag_coefficient="${rotor_drag_coefficient}" | ||
rolling_moment_coefficient="${rolling_moment_coefficient}" | ||
color="Blue" | ||
use_own_mesh="false" | ||
mesh=""> | ||
<origin xyz="-${cos45*arm_length} ${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" /> | ||
<xacro:insert_block name="rotor_inertia" /> | ||
</xacro:vertical_rotor> | ||
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<xacro:vertical_rotor | ||
robot_namespace="${namespace}" | ||
suffix="front-left" | ||
direction="cw" | ||
motor_constant="${motor_constant}" | ||
moment_constant="${moment_constant}" | ||
parent="${namespace}/base_link" | ||
mass_rotor="${mass_rotor}" | ||
radius_rotor="${radius_rotor}" | ||
time_constant_up="${time_constant_up}" | ||
time_constant_down="${time_constant_down}" | ||
max_rot_velocity="${max_rot_velocity}" | ||
motor_number="3" | ||
rotor_drag_coefficient="${rotor_drag_coefficient}" | ||
rolling_moment_coefficient="${rolling_moment_coefficient}" | ||
color="Red" | ||
use_own_mesh="false" | ||
mesh=""> | ||
<origin xyz="${cos45*arm_length} ${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" /> | ||
<xacro:insert_block name="rotor_inertia" /> | ||
</xacro:vertical_rotor> | ||
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</robot> |
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<?xml version="1.0"?> | ||
<package> | ||
<name>rotors_evaluation</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The dataset evaluation package for the RotorS simulator.</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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@@ -1,6 +1,6 @@ | ||
<package> | ||
<name>rotors_gazebo</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The rotors_gazebo package</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rotors_gazebo_plugins</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The rotors_gazebo_plugins package</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rotors_joy_interface</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The rotors_joy_interface package to control MAVs with a joystick</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rotors_simulator</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>CrazyS is an extension ROS package of RotorS aimed to modeling, developing and integrating the Crazyflie nano-quadcopter.</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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<package> | ||
<name>rqt_rotors</name> | ||
<version>6.0.7</version> | ||
<version>6.0.8</version> | ||
<description>The rqt_rotors package</description> | ||
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<maintainer email="[email protected]">Giuseppe Silano</maintainer> | ||
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