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Iris: add copies for swarm test
- Add 4 copies of iris_with_ardupilot for testing swarming and distributed sim. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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‎models/iris_with_ardupilot_1/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Iris with ArduPilot</name>
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<version>2.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Fadri Furrer</name>
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<email>fadri.furrer@mavt.ethz.ch</email>
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</author>
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<author>
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<name>Michael Burri</name>
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</author>
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<author>
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<name>Mina Kamel</name>
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</author>
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<author>
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<name>Janosch Nikolic</name>
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</author>
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<author>
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<name>Markus Achtelik</name>
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</author>
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<maintainer email="hsu@osrfoundation.org">john hsu</maintainer>
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<description>
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Starting with iris_with_standoffs
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add LiftDragPlugin
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add ArduCopterPlugin
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</description>
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<depend>
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<model>
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<uri>model://iris_with_standoffs</uri>
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<version>1.0</version>
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</model>
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</depend>
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</model>

‎models/iris_with_ardupilot_1/model.sdf‎

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<?xml version="1.0"?>
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<sdf version="1.9">
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<model name="iris_with_ardupilot_1">
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<include>
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<uri>model://iris_with_standoffs</uri>
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</include>
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<!-- plugins -->
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<plugin filename="gz-sim-joint-state-publisher-system"
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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_0</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_0</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_1</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_1</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_2</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_2</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>0.084 0 0</cp>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_3</link_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.002</area>
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<air_density>1.2041</air_density>
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<cp>-0.084 0 0</cp>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>iris_with_standoffs::rotor_3</link_name>
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</plugin>
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<plugin name="gz::sim::systems::JointController"
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filename="gz-sim-joint-controller-system">
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<joint_name>iris_with_standoffs::rotor_0_joint</joint_name>
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<use_force_commands>1</use_force_commands>
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<topic>/model/iris_with_ardupilot_1/joint/rotor_0_joint/cmd_vel</topic>
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<initial_velocity>0.0</initial_velocity>
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<p_gain>0.2</p_gain>
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<d_gain>0</d_gain>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</plugin>
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<plugin name="gz::sim::systems::JointController"
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filename="gz-sim-joint-controller-system">
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<joint_name>iris_with_standoffs::rotor_1_joint</joint_name>
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<use_force_commands>1</use_force_commands>
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<topic>/model/iris_with_ardupilot_1/joint/rotor_1_joint/cmd_vel</topic>
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<initial_velocity>0.0</initial_velocity>
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<p_gain>0.2</p_gain>
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<d_gain>0</d_gain>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</plugin>
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<plugin name="gz::sim::systems::JointController"
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filename="gz-sim-joint-controller-system">
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<joint_name>iris_with_standoffs::rotor_2_joint</joint_name>
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<use_force_commands>1</use_force_commands>
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<topic>/model/iris_with_ardupilot_1/joint/rotor_2_joint/cmd_vel</topic>
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<initial_velocity>0.0</initial_velocity>
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<p_gain>0.2</p_gain>
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<d_gain>0</d_gain>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</plugin>
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<plugin name="gz::sim::systems::JointController"
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filename="gz-sim-joint-controller-system">
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<joint_name>iris_with_standoffs::rotor_3_joint</joint_name>
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<use_force_commands>1</use_force_commands>
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<topic>/model/iris_with_ardupilot_1/joint/rotor_3_joint/cmd_vel</topic>
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<initial_velocity>0.0</initial_velocity>
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<p_gain>0.2</p_gain>
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<d_gain>0</d_gain>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</plugin>
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<plugin name="ArduPilotPlugin"
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filename="ArduPilotPlugin">
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<!-- Port settings -->
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<fdm_addr>127.0.0.1</fdm_addr>
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<fdm_port_in>9002</fdm_port_in>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<lock_step>1</lock_step>
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<have_32_channels>0</have_32_channels>
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<!-- Frame conventions
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Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
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<!-- Sensors -->
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<imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>
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<!--
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incoming control command [0, 1]
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so offset it by 0 to get [0, 1]
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and divide max target by 1.
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offset = 0
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multiplier = 838 max rpm / 1 = 838
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-->
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<control channel="0">
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<jointName>iris_with_standoffs::rotor_0_joint</jointName>
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<useForce>1</useForce>
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<multiplier>838</multiplier>
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<offset>0</offset>
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<servo_min>1000</servo_min>
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<servo_max>2000</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/model/iris_with_ardupilot_1/joint/rotor_0_joint/cmd_vel</cmd_topic>
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</control>
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<control channel="1">
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<jointName>iris_with_standoffs::rotor_1_joint</jointName>
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<useForce>1</useForce>
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<multiplier>838</multiplier>
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<offset>0</offset>
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<servo_min>1000</servo_min>
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<servo_max>2000</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/model/iris_with_ardupilot_1/joint/rotor_1_joint/cmd_vel</cmd_topic>
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</control>
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<control channel="2">
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<jointName>iris_with_standoffs::rotor_2_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-838</multiplier>
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<offset>0</offset>
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<servo_min>1000</servo_min>
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<servo_max>2000</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/model/iris_with_ardupilot_1/joint/rotor_2_joint/cmd_vel</cmd_topic>
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</control>
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<control channel="3">
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<jointName>iris_with_standoffs::rotor_3_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-838</multiplier>
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<offset>0</offset>
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<servo_min>1000</servo_min>
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<servo_max>2000</servo_max>
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<type>COMMAND</type>
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<cmd_topic>/model/iris_with_ardupilot_1/joint/rotor_3_joint/cmd_vel</cmd_topic>
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</control>
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</plugin>
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</model>
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</sdf>

‎models/iris_with_ardupilot_2/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Iris with ArduPilot</name>
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<version>2.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Fadri Furrer</name>
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<email>fadri.furrer@mavt.ethz.ch</email>
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</author>
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<author>
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<name>Michael Burri</name>
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</author>
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<author>
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<name>Mina Kamel</name>
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</author>
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<author>
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<name>Janosch Nikolic</name>
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</author>
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<author>
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<name>Markus Achtelik</name>
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</author>
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<maintainer email="hsu@osrfoundation.org">john hsu</maintainer>
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<description>
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Starting with iris_with_standoffs
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add LiftDragPlugin
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add ArduCopterPlugin
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</description>
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<depend>
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<model>
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<uri>model://iris_with_standoffs</uri>
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<version>1.0</version>
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</model>
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</depend>
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</model>

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