Add model for Wild Thumper rover #2
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- Generate SDF from ROS project's urdf.xacro model Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Disable ROS plugins - Fix mesh location - Change range sensor type to gpu_ray Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Remove unused surface elements - Set damping in joints to default = 1.0 (except wheels) - Remove ode specific params Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Disable range, laser, and camera sensors - Add ignition system plugins for joint state and joint force for each wheel (x6) Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Add ardupilot gazebo plugin - Set up for skid steering, provide initial PID estimates Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring
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to srmainwaring/SITL_Models
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Dec 2, 2021
Supersedes ArduPilot/ardupilot_gazebo#2 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Superseded by ArduPilot/SITL_Models#51 |
tridge
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to ArduPilot/SITL_Models
that referenced
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Dec 2, 2021
Supersedes ArduPilot/ardupilot_gazebo#2 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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This PR adds a model for a Wild Thumper skid-steer rover.
Usage
Ignition and the plugins should be installed as per the wiki instructions.
wildthumperA Wild Thumper six wheel skid-steer rover.
Run Gazebo
Run ArduPilot SITL
The model can be run with the default
rover-skidSITL parameters.Credits