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Diffdrive Rover: Ported R1 to GZ and introduced new GZ wheel interface
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ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
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#!/bin/sh | ||
# | ||
# @name Aion Robotics R1 Rover | ||
# @type Rover | ||
# @class Rover | ||
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. ${R}etc/init.d/rc.rover_differential_defaults | ||
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz} | ||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} | ||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover} | ||
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param set-default SIM_GZ_EN 1 | ||
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param set-default SENS_EN_GPSSIM 1 | ||
param set-default SENS_EN_BAROSIM 0 | ||
param set-default SENS_EN_MAGSIM 1 | ||
param set-default SENS_EN_ARSPDSIM 1 | ||
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param set-default COM_PREARM_MODE 2 | ||
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param set-default NAV_ACC_RAD 0.5 | ||
param set-default NAV_LOITER_RAD 2 | ||
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param set-default GND_MAX_ANG 0.6 | ||
param set-default GND_WHEEL_BASE 2.0 | ||
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param set-default CA_R_REV 3 | ||
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param set-default SIM_GZ_EC_FUNC1 101 | ||
param set-default SIM_GZ_EC_MIN1 0 | ||
param set-default SIM_GZ_EC_MAX1 200 | ||
param set-default SIM_GZ_EC_DIS1 100 | ||
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param set-default SIM_GZ_EC_FUNC2 102 | ||
param set-default SIM_GZ_EC_MIN2 0 | ||
param set-default SIM_GZ_EC_MAX2 200 | ||
param set-default SIM_GZ_EC_DIS2 100 | ||
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param set-default SIM_GZ_MT_FUNC1 101 | ||
param set-default SIM_GZ_MT_MIN1 0 | ||
param set-default SIM_GZ_MT_MAX1 200 | ||
param set-default SIM_GZ_MT_DIS1 100 | ||
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param set-default SIM_GZ_MT_FUNC2 102 | ||
param set-default SIM_GZ_MT_MIN2 0 | ||
param set-default SIM_GZ_MT_MAX2 200 | ||
param set-default SIM_GZ_MT_DIS2 100 |
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<?xml version="1.0"?> | ||
<model> | ||
<name>r1_rover</name> | ||
<version>1.0</version> | ||
<sdf version='1.5'>r1_rover.sdf</sdf> | ||
<license>https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt</license> | ||
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<author> | ||
<name>Nicholas Nunno</name> | ||
</author> | ||
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<description> | ||
This is a model for the Aion robotics R1 ugv rover. The sdf file is adpated from [aion_io](https://github.com/aionrobotics/aion_io) | ||
</description> | ||
</model> |
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