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MotorPlugin: add motor example
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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‎worlds/motor.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.10">
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<world name="motor">
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<physics name="1ms" type="ignore">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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<plugin filename="gz-sim-navsat-system"
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name="gz::sim::systems::NavSat">
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</plugin>
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<scene>
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<ambient>1.0 1.0 1.0</ambient>
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<background>0.8 0.8 0.8</background>
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<sky></sky>
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</scene>
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<spherical_coordinates>
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<latitude_deg>-35.363262</latitude_deg>
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<longitude_deg>149.165237</longitude_deg>
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<elevation>584</elevation>
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<heading_deg>0</heading_deg>
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<surface_model>EARTH_WGS84</surface_model>
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</spherical_coordinates>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1000</mu>
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<mu2>1000</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8</ambient>
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<diffuse>0.8 0.8 0.8</diffuse>
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<specular>0.8 0.8 0.8</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="motor">
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<pose degrees="true">0 0 0.005 0 0 0</pose>
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<link name="base_link">
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<inertial>
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<mass>10.0</mass>
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<inertia>
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<ixx>0.002166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.002166667</iyy>
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<iyz>0</iyz>
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<izz>0.004166667</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.01</size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>1000</mu>
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<mu2>1000</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2</ambient>
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<diffuse>0.2 0.2 0.2</diffuse>
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<specular>0.01 0.01 0.01</specular>
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</material>
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</visual>
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</link>
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<link name="motor_link">
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<pose relative_to="base_link" degrees="true">0 0 0.0205 0 0 0</pose>
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<inertial>
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<mass>0.064</mass>
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<inertia>
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<ixx>8.19449E-06</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.19449E-06</iyy>
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<iyz>0</iyz>
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<izz>6.13832E-06</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<length>0.031</length>
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<radius>0.01385</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<length>0.031</length>
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<radius>0.01385</radius>
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</cylinder>
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</geometry>
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<material>
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<ambient>0 0 1</ambient>
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<diffuse>0 0 1</diffuse>
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<specular>0.01 0.01 0.01</specular>
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</material>
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</visual>
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</link>
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<joint name="motor_joint" type="revolute">
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<pose degrees="true">0 0 0 0 0 0</pose>
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<parent>base_link</parent>
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<child>motor_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1.0e16</lower>
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<upper>1.0e16</upper>
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</limit>
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<dynamics>
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<damping>0.001</damping>
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</dynamics>
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</axis>
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</joint>
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<link name="blade_1_link">
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<pose relative_to="motor_link" degrees="true">0.0635 0 0.018 0 0 0</pose>
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<inertial>
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<mass>0.0065</mass>
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<inertia>
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<ixx>2.30208E-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.75008E-06</iyy>
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<iyz>0</iyz>
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<izz>8.95321E-06</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.127 0.02 0.005</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.127 0.02 0.005</size>
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</box>
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</geometry>
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<material>
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<ambient>0.01 0.01 0.01</ambient>
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<diffuse>0.01 0.01 0.01</diffuse>
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<specular>0.01 0.01 0.01</specular>
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</material>
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</visual>
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</link>
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<joint name="blade_1_joint" type="revolute">
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<pose degrees="true">0 0 0 0 0 0</pose>
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<parent>motor_link</parent>
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<child>blade_1_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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</axis>
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</joint>
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<link name="blade_2_link">
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<pose relative_to="motor_link" degrees="true">-0.0635 0 0.018 0 0 180</pose>
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<inertial>
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<mass>0.0065</mass>
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<inertia>
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<ixx>2.30208E-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>8.75008E-06</iyy>
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<iyz>0</iyz>
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<izz>8.95321E-06</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.127 0.02 0.005</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.127 0.02 0.005</size>
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</box>
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</geometry>
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<material>
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<ambient>0.01 0.01 0.01</ambient>
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<diffuse>0.01 0.01 0.01</diffuse>
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<specular>0.01 0.01 0.01</specular>
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</material>
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</visual>
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</link>
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<joint name="blade_2_joint" type="revolute">
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<pose degrees="true">0 0 0 0 0 0</pose>
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<parent>motor_link</parent>
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<child>blade_2_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<dynamics>
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<damping>0.1</damping>
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</dynamics>
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</axis>
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</joint>
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<plugin name="gz::sim::systems::JointStatePublisher"
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filename="gz-sim-joint-state-publisher-system">
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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>motor_joint</joint_name>
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<initial_velocity>0.0</initial_velocity>
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<use_force_commands>1</use_force_commands>
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<use_actuator_msg>0</use_actuator_msg>
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<disable_braking>0</disable_braking>
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<topic>/motor_joint/cmd_vel</topic>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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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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<!--
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T-Motor 2216 920KV as used on a Hexsoon 450
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KV 920 RPM/V = KV 96 rad/s/V
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-->
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<plugin name="MotorPlugin" filename="MotorPlugin">
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<joint_name>motor_joint</joint_name>
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<use_actuator_msg>0</use_actuator_msg>
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<disable_braking>0</disable_braking>
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<topic>/motor_joint/cmd_vel</topic>
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<p_gain>0.01</p_gain>
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<i_gain>0.01</i_gain>
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<d_gain>0</d_gain>
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<i_max>1</i_max>
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<i_min>-1</i_min>
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<cmd_max>5.0</cmd_max>
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<cmd_min>-5.0</cmd_min>
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<voltage_bat>16.0</voltage_bat>
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<speed_constant>96</speed_constant>
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<torque_constant>53</torque_constant>
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<resistance>0.115</resistance>
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<no_load_current>0.8</no_load_current>
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</plugin>
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<!-- lift-drag for ccw prop -->
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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>0.0013</area>
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<air_density>1.2041</air_density>
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<cp>0 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>blade_1_link</link_name>
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<visualize_forces>
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<visualize>1</visualize>
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<update_rate>1000</update_rate>
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<!-- <topic>/model/motor/link/blade_1_link/forces/lift_drag</topic> -->
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</visualize_forces>
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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>0.0013</area>
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<air_density>1.2041</air_density>
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<cp>0 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>blade_2_link</link_name>
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<visualize_forces>
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<visualize>1</visualize>
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<update_rate>1000</update_rate>
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<!-- <topic>/model/motor/link/blade_2_link/forces/lift_drag</topic> -->
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</visualize_forces>
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</plugin>
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</model>
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</world>
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</sdf>

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