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Add OmniQuad platform (#133)
* Added Omniquad model config and SDF * [fix] refactor omniquad model - Created a base model to hold common drone geometry and sensors - Simplified main model to handle just plugin loading * update meshes and added missing license * removed separate LICENSE, link directly repo LICENSE now
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‎models/omniquad/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>omniquad</name>
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<version>1.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<license>https://github.com/PX4/PX4-gazebo-models/blob/main/LICENSE</license>
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<author>
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<name>Andrea Berra</name>
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<email>andrea.berra@outlook.com</email>
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</author>
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<description>Model of the Omniquad platform.</description>
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</model>

‎models/omniquad/model.sdf‎

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<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='omniquad'>
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<include merge='true'>
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<uri>model://omniquad_base</uri>
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<pose>0 0 .2 0 0 0</pose>
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</include>
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<!-- motor -->
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_1_joint</jointName>
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<linkName>rotor_1</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1100.0</maxRotVelocity>
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<motorConstant>9.84e-06</motorConstant>
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<momentConstant>0.09</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_2_joint</jointName>
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<linkName>rotor_2</linkName>
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<turningDirection>ccw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>9.84e-06</motorConstant>
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<momentConstant>0.09</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>1</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_3_joint</jointName>
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<linkName>rotor_3</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>9.84e-06</motorConstant>
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<momentConstant>0.09</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>2</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<plugin filename="gz-sim-multicopter-motor-model-system"
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name="gz::sim::systems::MulticopterMotorModel">
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<jointName>rotor_4_joint</jointName>
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<linkName>rotor_4</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1000.0</maxRotVelocity>
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<motorConstant>9.84e-06</motorConstant>
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<momentConstant>0.09</momentConstant>
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<commandSubTopic>command/motor_speed</commandSubTopic>
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<motorNumber>3</motorNumber>
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<rotorDragCoefficient>0.000175</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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<motorType>velocity</motorType>
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</plugin>
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<!-- servo -->
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<plugin filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>tilt_arm_1_joint</joint_name>
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<sub_topic>servo_0</sub_topic>
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<p_gain>10.0</p_gain>
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<i_gain>0.0</i_gain>
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<d_gain>0.25</d_gain>
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<cmd_max>2</cmd_max>
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<cmd_min>-2</cmd_min>
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</plugin>
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<plugin filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>tilt_arm_2_joint</joint_name>
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<sub_topic>servo_1</sub_topic>
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<p_gain>10.0</p_gain>
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<i_gain>0.0</i_gain>
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<d_gain>0.25</d_gain>
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<cmd_max>2</cmd_max>
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<cmd_min>-2</cmd_min>
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</plugin>
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<plugin filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>tilt_arm_3_joint</joint_name>
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<sub_topic>servo_2</sub_topic>
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<p_gain>10.0</p_gain>
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<i_gain>0.0</i_gain>
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<d_gain>0.25</d_gain>
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<cmd_max>2</cmd_max>
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<cmd_min>-2</cmd_min>
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</plugin>
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<plugin filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>tilt_arm_4_joint</joint_name>
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<sub_topic>servo_3</sub_topic>
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<p_gain>10.0</p_gain>
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<i_gain>0.0</i_gain>
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<d_gain>0.25</d_gain>
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<cmd_max>2</cmd_max>
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<cmd_min>-2</cmd_min>
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</plugin>
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</model>
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</sdf>

‎models/omniquad_base/meshes/arm.stl‎

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‎models/omniquad_base/meshes/base.stl‎

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‎models/omniquad_base/meshes/iris_prop_ccw.dae‎

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‎models/omniquad_base/meshes/iris_prop_cw.dae‎

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‎models/omniquad_base/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>omniquad_base</name>
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<version>1.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<license>https://github.com/PX4/PX4-gazebo-models/blob/main/LICENSE</license>
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<author>
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<name>Andrea Berra</name>
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<email>andrea.berra@outlook.com</email>
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</author>
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<description>Model of the Omniquad platform.</description>
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</model>

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