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srmainwaringsrmainwaring
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Iris: add copies for swarm test
- Add odometry system Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
1 parent f2c2a13 commit 8cb56ad

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‎models/iris_with_ardupilot_1/model.sdf‎

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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<plugin filename="gz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_publish_frequency>1000</odom_publish_frequency>
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<dimensions>3</dimensions>
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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>

‎models/iris_with_ardupilot_2/model.sdf‎

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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<plugin filename="gz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_publish_frequency>1000</odom_publish_frequency>
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<dimensions>3</dimensions>
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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>

‎models/iris_with_ardupilot_3/model.sdf‎

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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<plugin filename="gz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_publish_frequency>1000</odom_publish_frequency>
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<dimensions>3</dimensions>
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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>

‎models/iris_with_ardupilot_4/model.sdf‎

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name="gz::sim::systems::JointStatePublisher">
1111
</plugin>
1212

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<plugin filename="gz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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<odom_frame>odom</odom_frame>
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<robot_base_frame>base_link</robot_base_frame>
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<odom_publish_frequency>1000</odom_publish_frequency>
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<dimensions>3</dimensions>
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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">
1523
<a0>0.3</a0>

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