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Merged
merged 9 commits into from
Mar 7, 2025
Merged

Add world with moving platform #83

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d4038c3
add moving platform world
mbjd Mar 3, 2025
e54f085
moving platform: initial pose
mbjd Mar 3, 2025
04219ed
moving platform: increase mass & inertia
mbjd Mar 3, 2025
93587c1
wip: platform controller plugin
mbjd Mar 4, 2025
73cb2ec
remove plugins from sdf
mbjd Mar 7, 2025
db0941b
split world and model
mbjd Mar 7, 2025
c05a84e
add back velocity plugin
mbjd Mar 7, 2025
56709f6
bind plugin to model
mbjd Mar 7, 2025
156e6f6
stop binding to specific link
mbjd Mar 7, 2025
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1 change: 1 addition & 0 deletions .gitignore
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sdf_parsing/build/
4 changes: 4 additions & 0 deletions models/moving_platform/model.config
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<?xml version="1.0" encoding="UTF-8"?>
<model>
<sdf version="1.9">model.sdf</sdf>
</model>
48 changes: 48 additions & 0 deletions models/moving_platform/model.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.9">
<model name="flat_platform">
<link name="platform_link">
<visual name="platform_visual">
<geometry>
<box>
<size>5 5 0.1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.3 0.3 0.3 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
<collision name="platform_collision">
<geometry>
<box>
<size>5 5 0.1</size>
</box>
</geometry>
</collision>
<pose>0 0 2 0 0 0</pose>
<inertial>
<mass>10000</mass>
<inertia>
<ixx>10000</ixx>
<iyy>10000</iyy>
<izz>10000</izz>
</inertia>
</inertial>
<sensor name="navsat_sensor" type="navsat">
<always_on>1</always_on>
<update_rate>30</update_rate>
</sensor>
Comment on lines +33 to +36
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the navsat sensor is not needed. See my comments in PX4/PX4-Autopilot#24471

</link>
<!-- plugin for sending direct velocity commands -->
<plugin
filename="gz-sim-velocity-control-system"
name="gz::sim::systems::VelocityControl">
</plugin>
<plugin
filename="libMovingPlatformController.so"
name="custom::MovingPlatformController">
</plugin>
</model>
</sdf>
97 changes: 97 additions & 0 deletions worlds/moving_platform.sdf
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<?xml version="1.0" encoding="UTF-8"?>
<sdf version="1.9">
<world name="moving_platform">
<physics type="ode">
<max_step_size>0.004</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>250</real_time_update_rate>
</physics>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type="adiabatic"/>
<scene>
<grid>false</grid>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>true</shadows>
</scene>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>1 1</size>
</plane>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>500 500</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>false</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
</model>
<include>
<uri>model://moving_platform</uri>
</include>
<light name="sunUTC" type="directional">
<pose>0 0 500 0 -0 0</pose>
<cast_shadows>true</cast_shadows>
<intensity>1</intensity>
<direction>0.001 0.625 -0.78</direction>
<diffuse>0.904 0.904 0.904 1</diffuse>
<specular>0.271 0.271 0.271 1</specular>
<attenuation>
<range>2000</range>
<linear>0</linear>
<constant>1</constant>
<quadratic>0</quadratic>
</attenuation>
<spot>
<inner_angle>0</inner_angle>
<outer_angle>0</outer_angle>
<falloff>0</falloff>
</spot>
</light>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
<latitude_deg>47.397971057728974</latitude_deg>
<longitude_deg> 8.546163739800146</longitude_deg>
<elevation>0</elevation>
</spherical_coordinates>
</world>
</sdf>