t650.sdf.jinja

<?xml version="1.0" encoding="utf-8"?>
<sdf version='1.6'>

  {%- import "mrs_robots_description/sdf/component_snippets.sdf.jinja" as components -%}

  {# ================================================================== #}
  {# ||                    parameters definition                     || #}
  {# ================================================================== #}

  {# Robot parameters and arguments {--> #}
  {%- set mass = 3.5 -%} {# [kg] #}
  {%- set body_radius = 0.325 -%} {# [m] #}
  {%- set body_height = 0.15 -%} {# [m] #}
  {%- set mass_prop = 0.005 -%} {# [kg] #}
  {%- set radius_rotor = 0.195 -%} {# [m] #}
  {%- set rotor_offset = 0.021 -%} {# [m] #}
  {%- set propeller_offset = 0.01 -%} {# [m] #}
  {%- set arm_length = 0.3 -%} {# [m] #}
  {%- set leg_height = 0.24 -%} {# [m] #}
  {%- set leg_offset_r = 0.05 -%} {# [m] #}
  {%- set leg_radius = 0.012 -%} {# [m] #}
  {%- set use_battery_mount = true -%} {# [bool] #}
  {%- set root = "base_link" -%}

  {%- set enable_motor_crash = true -%}
  {% if disable_motor_crash %}
    {%- set enable_motor_crash = false -%}
  {% endif %}
  {# <!--}--> #}

  {# Motor constants {--> #}
  {%- set rotor_velocity_slowdown_sim = 0.0159236 -%}
  {%- set motor_constant = 23.0 -%} {# [kg.m/s^2] #}
  {%- set moment_constant = 0.016 -%} {# [m] #}
  {%- set time_constant_up = 1.0 / 80.0 -%} {# [s] #}
  {%- set time_constant_down = 1.0 / 40.0 -%} {# [s] #}
  {%- set max_rot_velocity = 1 -%} {# [rad/s] #}
  {%- set rotor_drag_coefficient = 0.1 -%} {# orig 8.06428e-04 #}
  {%- set rolling_moment_coefficient = "1.0e-6" -%}
  {# <!--}--> #}

  {# Inertia constants {--> #}
  {%- set inertia_body_radius = 0.25 -%} {# [m] #}
  {%- set inertia_body_height = 0.05 -%} {# [m] #}
  {# <!--}--> #}

  {# Meshes {--> #}

  {# Drone parts {--> #}
  {%- set top_board_mesh_file = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_top_board.dae" -%}
  {%- set bottom_board_mesh_file = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_bottom_board.dae" -%}
  {%- set arm_mesh_file_front = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_arm_black.dae" -%}
  {%- set arm_mesh_file_back = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_arm_red.dae" -%}
  {%- set leg_mesh_file = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_leg.dae" -%}
  {%- set rotor_mesh_file_front = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_motor_black.dae" -%}
  {%- set rotor_mesh_file_back = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_motor_orange.dae" -%}
  {%- set prop_mesh_file = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_prop_low_poly.dae" -%}
  {%- set pixhawk_mesh_file = "model://mrs_robots_description/meshes/sensors/pixhawk.dae" -%}
  {%- set nuc_mesh_file = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_nuc.dae" -%}
  {# <!--}--> #}

  {# Holders {--> #}
  {%- set battery_mount_mesh = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_battery_mount.dae" -%}
  {%- set bluefox_garmin_mount_mesh = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_bluefox_garmin_mount.dae" -%}
  {%- set ouster_mount_mesh = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_ouster_mount.dae" -%}
  {%- set rplidar_mount_mesh = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_rplidar_mount.dae" -%}
  {%- set realsense_front_mount_mesh = "model://mrs_robots_description/meshes/tarot/t650/tarot_t650_realsense_front_mount.dae" -%}
  {# <!--}--> #}

  {# Scales {--> #}
  {%- set mesh_scale = "1 1 1" -%}
  {%- set mesh_scale_prop_ccw = "1 1 1" -%}
  {%- set mesh_scale_prop_cw = "-1 1 1" -%}
  {%- set mesh_scale_milimeters = "0.001 0.001 0.001" -%}
  {# <!--}--> #}

  {# <!--}--> #}

  {# Inertias {--> #}
  {%- set body_ixx = mass * (3 * inertia_body_radius * inertia_body_radius + inertia_body_height * inertia_body_height) / 12 -%}
  {%- set body_ixy = 0 -%}
  {%- set body_ixz = 0 -%}
  {%- set body_iyy = mass * (3 * inertia_body_radius * inertia_body_radius + inertia_body_height * inertia_body_height) / 12 -%}
  {%- set body_iyz = 0 -%}
  {%- set body_izz = (mass * inertia_body_radius * inertia_body_radius) / 2 -%}

  {%- set prop_ixx = 0.0001 -%}
  {%- set prop_ixy = 0 -%}
  {%- set prop_ixz = 0 -%}
  {%- set prop_iyy = 0.0001 -%}
  {%- set prop_iyz = 0 -%}
  {%- set prop_izz = 0.0001 -%}
  {# <!--}--> #}

  <model name="{{ name }}">

    <!-- ================================================================== -->
    <!-- ||                    bare body definitions                     || -->
    <!-- ================================================================== -->

    <link name="{{ root }}">

      <!-- Body physics {-->
      {{ components.multirotor_physics_macro(
        mass = mass,
        body_radius = body_radius,
        body_height = body_height,
        rotor_velocity_slowdown_sim = rotor_velocity_slowdown_sim,
        ixx = body_ixx,
        ixy = body_ixy,
        ixz = body_ixz,
        iyy = body_iyy,
        iyz = body_iyz,
        izz = body_izz)
      }}
      <!--}-->

      <!-- Body visuals {-->

      <!-- Boards {-->
      {{ components.visual_mesh_macro(
        name = "bottom_board",
        mesh_file = bottom_board_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}

      {{ components.visual_mesh_macro(
        name = "top_board",
        mesh_file = top_board_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->

      <!-- Arms {-->
      {{ components.visual_mesh_macro(
        name = "front_right_arm",
        mesh_file = arm_mesh_file_front,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(-45))
      }}

      {{ components.visual_mesh_macro(
        name = "back_right_arm",
        mesh_file = arm_mesh_file_back,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(-135))
      }}

      {{ components.visual_mesh_macro(
        name = "front_left_arm",
        mesh_file = arm_mesh_file_front,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(45))
      }}

      {{ components.visual_mesh_macro(
        name = "back_left_arm",
        mesh_file = arm_mesh_file_back,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(135))
      }}
      <!--}-->

      <!-- intel nuc {-->
      {{ components.visual_mesh_macro(
        name = "NUC",
        mesh_file = nuc_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0.002,
        y = 0,
        z = -1.7*body_height,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->
      
      <!-- pixhawk {-->
      {{ components.visual_mesh_macro(
        name = "pixhawk",
        mesh_file = pixhawk_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = 0.021,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->

      <!-- legs {-->
      {{ components.leg_macro(
        name = "front_right_leg",
        mesh_file = leg_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        parent = root,
        x = (arm_length - leg_offset_r) * components.sin45,
        y = -(arm_length - leg_offset_r) * components.sin45,
        z = -0.9*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(-45),
        collision_height = leg_height,
        collision_radius = leg_radius)
      }}

      {{ components.leg_macro(
        name = "front_left_leg",
        mesh_file = leg_mesh_file,
        mesh_scale = mesh_scale,
        color = "DarkGrey",
        parent = root,
        x = (arm_length - leg_offset_r) * components.sin45,
        y = (arm_length - leg_offset_r) * components.sin45,
        z = -0.9*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(45),
        collision_height = leg_height,
        collision_radius = leg_radius)
      }}

      {{ components.leg_macro(
        name = "rear_left_leg",
        mesh_file = leg_mesh_file,
        mesh_scale = mesh_scale,
        color = "Orange",
        parent = root,
        x = -(arm_length - leg_offset_r) * components.sin45,
        y = (arm_length - leg_offset_r) * components.sin45,
        z = -0.9*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(135),
        collision_height = leg_height,
        collision_radius = leg_radius)
      }}

      {{ components.leg_macro(
        name = "rear_right_leg",
        mesh_file = leg_mesh_file,
        mesh_scale = mesh_scale,
        color = "Orange",
        parent = root,
        x = -(arm_length - leg_offset_r) * components.sin45,
        y = -(arm_length - leg_offset_r) * components.sin45,
        z = -0.9*body_height,
        roll = 0,
        pitch = 0,
        yaw = components.rad(-135),
        collision_height = leg_height,
        collision_radius = leg_radius)
      }}
      <!--}-->

      <!-- motors {-->
      {{ components.visual_mesh_textured_macro(
        name = "front_right_motor",
        mesh_file = rotor_mesh_file_front,
        mesh_scale = mesh_scale,
        x = arm_length * components.sin45,
        y = -arm_length * components.sin45,
        z = -rotor_offset,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}

      {{ components.visual_mesh_textured_macro(
        name = "back_right_rotor",
        mesh_file = rotor_mesh_file_back,
        mesh_scale = mesh_scale,
        x = -arm_length * components.sin45,
        y = -arm_length * components.sin45,
        z = -rotor_offset,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}

      {{ components.visual_mesh_textured_macro(
        name = "front_left_rotor",
        mesh_file = rotor_mesh_file_front,
        mesh_scale = mesh_scale,
        x = arm_length * components.sin45,
        y = arm_length * components.sin45,
        z = -rotor_offset,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}

      {{ components.visual_mesh_textured_macro(
        name = "back_left_rotor",
        mesh_file = rotor_mesh_file_back,
        mesh_scale = mesh_scale,
        x = -arm_length * components.sin45,
        y = arm_length * components.sin45,
        z = -rotor_offset,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->

      {% if use_battery_mount %}
      <!-- battery mount and battery {-->
      {{ components.visual_mesh_macro(
        name = "battery_mount",
        mesh_file = battery_mount_mesh,
        mesh_scale = mesh_scale_milimeters,
        color = "DarkGrey",
        x = 0,
        y = 0,
        z = -0.24*body_height,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}

      {{ components.visual_colored_box_macro(
        name = "battery",
        size_x = 0.16,
        size_y = 0.065,
        size_z = 0.044,
        color = "Grey",
        x = 0,
        y = 0,
        z = -0.45*body_height,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->
      {% endif %}

      {% if enable_bluefox_camera or enable_bluefox_camera_reverse or enable_rangefinder or wall_challenge %}
      <!-- Bluefox mount {-->
      {{ components.visual_mesh_macro(
        name = "bluefox_garmin_mount",
        mesh_file = bluefox_garmin_mount_mesh,
        mesh_scale = mesh_scale_milimeters,
        color = "White",
        x = 0,
        y = -0.145,
        z = -0.025,
        roll = 0,
        pitch = 0,
        yaw = -components.rad90)
      }}
      <!--}-->
      {% endif %}
      
      {% if enable_rplidar or fire_challenge_blanket %}
      <!-- RPLidar mount {-->
      {{ components.visual_mesh_macro(
        name = "rplidar_mount",
        mesh_file = rplidar_mount_mesh,
        mesh_scale = mesh_scale_milimeters,
        color = "White",
        x = 0,
        y = 0.0,
        z = 0.075,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->
      {% endif %}
     
      {% if enable_realsense_front %}
      <!-- Realsense mount {-->
      {{ components.visual_mesh_macro(
        name = "realsense_front_mount",
        mesh_file = realsense_front_mount_mesh,
        mesh_scale = mesh_scale_milimeters,
        color = "White",
        x = 0.125,
        y = 0.0,
        z = -0.046,
        roll = 0,
        pitch = 0,
        yaw = 0)
      }}
      <!--}-->
      {% endif %}
     
      {% if enable_ouster or enable_velodyne %}
      <!-- Ouster mount {-->
      {{ components.visual_mesh_macro(
        name = "ouster_mount",
        mesh_file = ouster_mount_mesh,
        mesh_scale = mesh_scale_milimeters,
        color = "White",
        x = 0.0,
        y = 0.0,
        z = 0.068,
        roll = 0,
        pitch = 0,
        yaw = components.rad90)
      }}
      <!--}-->
      {% endif %}
     
      <!--}-->
    </link>

    <!-- Propellers {-->
    {{ components.prop_macro(
      direction = "ccw",
      rotor_velocity_slowdown_sim = rotor_velocity_slowdown_sim,
      motor_constant = motor_constant,
      moment_constant = moment_constant,
      parent = root,
      mass = mass_prop,
      radius = radius_rotor,
      time_constant_up = time_constant_up,
      time_constant_down = time_constant_down,
      max_rot_velocity = max_rot_velocity,
      motor_number = 0,
      rotor_drag_coefficient = rotor_drag_coefficient,
      rolling_moment_coefficient = rolling_moment_coefficient,
      enable_motor_crash = enable_motor_crash,
      color = "Black",
      mesh_file = prop_mesh_file,
      mesh_scale = mesh_scale_prop_ccw,
      x = arm_length * components.sin45,
      y = -arm_length * components.sin45,
      z = propeller_offset,
      roll = 0,
      pitch = 0,
      yaw = 0,
      ixx = prop_ixx,
      ixy = prop_ixy,
      ixz = prop_ixz,
      iyy = prop_iyy,
      iyz = prop_iyz,
      izz = prop_izz)
    }}

    {{ components.prop_macro(
      direction = "ccw",
      rotor_velocity_slowdown_sim = rotor_velocity_slowdown_sim,
      motor_constant =  motor_constant,
      moment_constant = moment_constant,
      parent = root,
      mass = mass_prop,
      radius = radius_rotor,
      time_constant_up = time_constant_up,
      time_constant_down = time_constant_down,
      max_rot_velocity = max_rot_velocity,
      motor_number = 1,
      rotor_drag_coefficient = rotor_drag_coefficient,
      rolling_moment_coefficient = rolling_moment_coefficient,
      enable_motor_crash = enable_motor_crash,
      color = "Black",
      mesh_file = prop_mesh_file,
      mesh_scale = mesh_scale_prop_ccw,
      x = -arm_length * components.sin45,
      y = arm_length * components.sin45,
      z = propeller_offset,
      roll = 0,
      pitch = 0,
      yaw = 0,
      ixx = prop_ixx,
      ixy = prop_ixy,
      ixz = prop_ixz,
      iyy = prop_iyy,
      iyz = prop_iyz,
      izz = prop_izz)
    }}

    {{ components.prop_macro(
      direction = "cw",
      rotor_velocity_slowdown_sim = rotor_velocity_slowdown_sim,
      motor_constant =  motor_constant,
      moment_constant = moment_constant,
      parent = root,
      mass = mass_prop,
      radius = radius_rotor,
      time_constant_up = time_constant_up,
      time_constant_down = time_constant_down,
      max_rot_velocity = max_rot_velocity,
      motor_number = 2,
      rotor_drag_coefficient = rotor_drag_coefficient,
      rolling_moment_coefficient = rolling_moment_coefficient,
      enable_motor_crash = enable_motor_crash,
      color = "Black",
      mesh_file = prop_mesh_file,
      mesh_scale = mesh_scale_prop_cw,
      x = arm_length * components.sin45,
      y = arm_length * components.sin45,
      z = propeller_offset,
      roll = 0,
      pitch = 0,
      yaw = 0,
      ixx = prop_ixx,
      ixy = prop_ixy,
      ixz = prop_ixz,
      iyy = prop_iyy,
      iyz = prop_iyz,
      izz = prop_izz)
    }}

    {{ components.prop_macro(
      direction = "cw",
      rotor_velocity_slowdown_sim = rotor_velocity_slowdown_sim,
      motor_constant =  motor_constant,
      moment_constant = moment_constant,
      parent = root,
      mass = mass_prop,
      radius = radius_rotor,
      time_constant_up = time_constant_up,
      time_constant_down = time_constant_down,
      max_rot_velocity = max_rot_velocity,
      motor_number = 3,
      rotor_drag_coefficient = rotor_drag_coefficient,
      rolling_moment_coefficient = rolling_moment_coefficient,
      enable_motor_crash = enable_motor_crash,
      color = "Black",
      mesh_file = prop_mesh_file,
      mesh_scale = mesh_scale_prop_cw,
      x = -arm_length * components.sin45,
      y = -arm_length * components.sin45,
      z = propeller_offset,
      roll = 0,
      pitch = 0,
      yaw = 0,
      ixx = prop_ixx,
      ixy = prop_ixy,
      ixz = prop_ixz,
      iyy = prop_iyy,
      iyz = prop_iyz,
      izz = prop_izz)
    }}
    <!--}-->

    <!-- ================================================================== -->
    <!-- ||                compulsory sensor definitions                 || -->
    <!-- ================================================================== -->

    <!-- Mavlink interface {-->
    {{ components.mavlink_interface_macro(
      mavlink_addr = mavlink_addr,
      mavlink_udp_port = mavlink_udp_port,
      mavlink_tcp_port = mavlink_tcp_port,
      serial_enabled = serial_enabled,
      serial_device = serial_device,
      baudrate = serial_baudrate,
      qgc_addr = qgc_addr,
      qgc_udp_port = qgc_udp_port,
      sdk_addr = sdk_addr,
      sdk_udp_port =sdk_udp_port,
      hil_mode = hil_mode,
      hil_state_level = hil_state_level,
      send_vision_estimation = send_vision_estimation,
      send_odometry = send_odometry,
      enable_lockstep = use_lockstep,
      use_tcp = use_tcp)
    }}
    <!--}-->

    <!-- GPS {-->
    {{ components.gps_macro(
      gps_name = "gps0",
      parent_link = root,
      update_rate = 10,
      gps_noise = true,
      gps_xy_random_walk = 2.0,
      gps_z_random_walk = 4.0,
      gps_xy_noise_density = "2.0e-4",
      gps_z_noise_density = "4.0e-4",
      gps_vxy_noise_density = 0.2,
      gps_vz_noise_density = 0.4,
      x = 0,
      y = 0,
      z = 0,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->

    <!-- Magnetometer {-->
    {{ components.magnetometer_plugin_macro(
      pub_rate = 100,
      noise_density = 0.0004,
      random_walk = 0.0000064,
      bias_correlation_time = 600,
      mag_topic = "/mag")
    }}
    <!--}-->

    <!-- GPS groundtruth {-->
    {{ components.gps_groundtruth_plugin_macro(
      home_latitude = 0,
      home_longitude = 0,
      home_altitude = 0)
    }}
    <!--}-->

    <!-- Barometer {-->
    {{ components.barometer_plugin_macro(
      baro_topic = "/baro",
      pub_rate = 50,
      baro_drift_pa_per_sec = 0)
    }}
    <!--}-->

    <!-- IMU {-->
    {{ components.imu_plugin_macro(
      imu_name = "imu",
      parent_link = root,
      imu_topic = "/imu",
      gyroscope_noise_density = 0.00018665,
      gyroscope_random_walk = 0.000038785,
      gyroscope_bias_correlation_time = 1000.0,
      gyroscope_turn_on_bias_sigma = 0.0087,
      accelerometer_noise_density = 0.00186,
      accelerometer_random_walk = 0.006,
      accelerometer_bias_correlation_time = 300.0,
      accelerometer_turn_on_bias_sigma = 0.1960,
      x = 0,
      y = 0,
      z = 0,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->

    <!-- ================================================================== -->
    <!-- ||                  optional sensor definitions                 || -->
    <!-- ================================================================== -->

    {# Ground truth {--> #}
    {% if enable_ground_truth %}
    <!-- Ground truth {-->
    {{ components.odometry_plugin_macro(
      odometry_sensor_name = "ground_truth",
      parent_link = root,
      topic_name = "ground_truth",
      noise = "0",
      frame_name = "world",
      frame_rate = "150",
      x = 0,
      y = 0,
      z = 0,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    <!-- ======================= rangefinder sensors ======================-->

    {# Garmin {--> #}
    {% if enable_rangefinder %}
    <!-- Garmin {-->
    {# {{ components.garmin_macro("lidar0", root, -0.077, 0, -0.069, 0, components.rad(90), 0) }} - uncomment when simulation will work with pixgarm #}
    {{ components.external_garmin_macro(
      namespace = namespace,
      parent_link = root,
      orientation = "",
      x = 0.0,
      y = -0.221,
      z = -0.035,
      roll = 0,
      pitch = components.rad(90),
      yaw = components.rad(90))
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Garmin Up {--> #}
    {% if enable_rangefinder_up %}
    <!-- Garmin Up {-->
    {{ components.external_garmin_macro(
      namespace = namespace,
      parent_link = root,
      orientation = "_up",
      x = 0.0,
      y = 0.08,
      z = -0.0075,
      roll = 0,
      pitch = components.rad(-90),
      yaw =  components.rad(-90))
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    <!-- ========================== LIDAR sensors ========================= -->

    {# Scanse Sweep {--> #}
    {% if enable_scanse_sweep %}
    <!-- Scanse Sweep {-->
    {{ components.scanse_sweep_macro(
      namespace = namespace,
      parent_link = root,
      x = 0.0,
      y = 0.0,
      z = 0.12,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Rplidar {--> #}
    {% if enable_rplidar %}
    <!-- Rplidar {-->
    {{ components.rplidar_macro(
      namespace = namespace,
      parent_link = root,
      x = 0.0,
      y = 0.0,
      z = 0.107,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Velodyne {--> #}
    {% if enable_velodyne %}
    <!-- Velodyne  {-->
    <!-- VLP-16 (default) -->
    {{ components.velodyne_macro(
      namespace = namespace,
      parent_link = root,
      sensor_name = "velodyne",
      rot_freq = 20,
      lasers = 16,
      vfov_angle = 30,
      max_range = 100,
      noise = 0.01,
      enable_gpu_ray = use_gpu_ray,
      x = 0.0,
      y = 0.0,
      z = 0.073,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Ouster {--> #}
    {% if enable_ouster %}
    <!-- Ouster  {-->
    {{ components.ouster_macro(
      namespace = namespace,
      parent_link = root,
      sensor_name = "os",
      ouster_model = ouster_model,
      rot_freq = 10,
      noise = 0.03,
      enable_gpu_ray = use_gpu_ray,
      x = 0.0,
      y = 0.0,
      z = 0.073,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}
    
    <!-- ========================= camera sensors ========================= -->

    <!-- Bluefox camera placements{-->

    {% if enable_bluefox_camera_reverse %}
    <!-- bluefox reverse {-->
    {{ components.bluefox_camera_macro(
      namespace = namespace,
      camera_name = "bluefox_optflow",
      parent_link = root,
      frame_rate = 100.0,
      hfov = 2.1,
      noise = 0.007,
      x = 0.0,
      y = -0.15,
      z = -0.057,
      roll = 0,
      pitch = components.rad90,
      yaw = components.rad180)
    }}
    <!--}-->
    {% endif %}

    {% if enable_bluefox_camera %}
    <!-- bluefox classic {-->
    {{ components.bluefox_camera_macro(
      namespace = namespace,
      camera_name = "bluefox_optflow",
      parent_link = root,
      frame_rate = 100.0,
      hfov = 2.1,
      noise = 0.007,
      x = 0.0,
      y = -0.15,
      z = -0.057,
      roll = 0,
      pitch = components.rad90,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}

    <!--}-->

    <!-- Realsense placements {-->

    {% if enable_realsense_front %}
    <!-- realsense front {-->
    {{ components.realsense_macro(
      namespace = namespace,
      camera_name = "rgbd",
      camera_suffix="",
      parent_link = root,
      enable_realistic_realsense = enable_realistic_realsense,
      x = 0.17,
      y = -0.011,
      z = -0.063,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}

    {% if enable_realsense_up %}
    <!-- realsense up {-->
    {{ components.realsense_macro(
      namespace = namespace,
      camera_name = "rgbd",
      camera_suffix="_up",
      parent_link = root,
      enable_realistic_realsense = enable_realistic_realsense,
      x = 0.08,
      y = 0,
      z = 0.03,
      roll = 0,
      pitch = - components.rad90,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}

    {% if enable_realsense_down %}
    <!-- realsense down {-->
    {{ components.realsense_macro(
      namespace = namespace,
      camera_name = "rgbd",
      camera_suffix="_down",
      parent_link = root,
      enable_realistic_realsense = enable_realistic_realsense,
      x = 0.1,
      y = 0,
      z = -0.05,
      roll = 0,
      pitch = components.rad90,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}

    <!--}-->

    <!-- Mobius placements {-->

    {% if enable_mobius_camera_front %}
    <!-- mobius front {-->
    {{ components.mobius_camera_macro(
      namespace = namespace,
      camera_name = "mobius_front",
      parent_link = root,
      frame_rate = 30.0,
      x = 0.2,
      y = 0.0,
      z = -0.04,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}

    <!--} -->

    {# Thermal cameras {--> #}
    {% if enable_thermal_camera %}
    <!-- Three thermal cameras {-->
    {{ components.thermal_camera_macro(
      camera_name = "thermal_top",
      camera_topic_name = "/" + namespace + "/thermal/top",
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = "thermal/top_optical",
      sensor_base_frame_name = namespace + "/thermal/top",
      parent_link = root,
      frame_rate = 14.0,
      hfov = 0.575959,
      image_width = 32,
      image_height = 32,
      x = 0.15,
      y = 0.06,
      z = -0.025,
      roll = 0,
      pitch = components.rad(-30),
      yaw = 0)
    }}

    {{ components.thermal_camera_macro(
      camera_name = "thermal_middle",
      camera_topic_name = "/" + namespace + "/thermal/middle",
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = "thermal/middle_optical",
      sensor_base_frame_name = namespace + "/thermal/middle",
      parent_link = root,
      frame_rate = 14.0,
      hfov = 0.575959,
      image_width = 32,
      image_height = 32,
      x = 0.16,
      y = 0.06,
      z = -0.055,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}

    {{ components.thermal_camera_macro(
      camera_name = "thermal_bottom",
      camera_topic_name = "/" + namespace + "/thermal/bottom",
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = "thermal/bottom_optical",
      sensor_base_frame_name = namespace + "/thermal/bottom",
      parent_link = root,
      frame_rate = 14.0,
      hfov = 0.575959,
      image_width = 32,
      image_height = 32,
      x = 0.15,
      y = 0.06,
      z = -0.085,
      roll = 0,
      pitch = components.rad(30),
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {% if enable_downward_uv_camera %}
    <!-- Downward UV camera {-->
    {{ components.uvcam_macro(
      parent_link = root,
      camera_publish_topic = "/" + namespace + "/uvdar_bluefox_bottom/image_raw",
      calibration_file = uvcam_calib_file,
      occlusions = uvcam_occlusions,
      frame_rate = 60,
      device_id = namespace + "_3",
      x = 0.0,
      y = 0.0,
      z = -0.1,
      roll = 0,
      pitch = components.rad(90),
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Servo camera {--> #}
    {% if enable_servo_camera %}
    <!-- Servo camera {-->
    {{ components.servo_camera_macro(
      parent = root,
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = namespace + "/servo_camera_optical",
      sensor_base_frame_name = namespace + "/servo_camera",
      offset_pitch_link_x = 0.0,
      offset_pitch_link_y = 0.0,
      offset_pitch_link_z = 0.0,
      offset_pitch_link_roll = 0.0,
      offset_pitch_link_yaw = 0.0,
      offset_pitch_link_pitch = 0.0,
      offset_roll_link_x = 0.2,
      offset_roll_link_y = 0.0,
      offset_roll_link_z = -0.1,
      offset_roll_link_roll = 0.0,
      offset_roll_link_yaw = 0.0,
      offset_roll_link_pitch = 0.0,
      tilt_update_rate = 5.0,
      min_pitch = -1.57,
      max_pitch = 1.57,
      min_roll = -0.6,
      max_roll = 0.6,
      max_pitch_rate = 0.1,
      max_roll_rate = 0.1,
      camera_update_rate = 30,
      horizontal_fov = 1.92,
      img_width = 1920,
      img_height = 1080,
      compensate_tilt_roll = true,
      compensate_tilt_pitch = true,
      pitch_link_mesh_file = "",
      roll_link_mesh_file = "",
      mesh_scale = "")
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    <!-- ========================== other sensors ========================= -->

    {# Teraranger Tower Evo {--> #}
    {% if enable_teraranger_evo_tower %}
    <!-- Teraranger Tower Evo {-->
    {{ components.teraranger_evo_tower_macro(
      parent_link = root,
      visualize = False,
      frame_name = namespace + "/teraranger_tower",
      parent_frame_name = namespace + "/fcu",
      gaussian_noise = 0.0,
      x = 0.0,
      y = 0.0,
      z = 0.14,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Magnetic gripper {--> #}
    {% if enable_magnetic_gripper %}
    <!-- Magnetic gripper {-->
    {{ components.magnet_gripper_visualization_macro(
      parent_link = root,
      x = 0.0,
      y = 0.0,
      z = - (0.20/2 + 0.01),
      roll = 0,
      pitch = 0,
      yaw = components.rad90)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Timepix {--> #}
    {% if enable_timepix %}
    <!-- Timepix {-->
    {{ components.timepix_macro(
      parent_link = root,
      name = "timepix",
      x = 0.115,
      y = -0.05,
      z = -0.05,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Timepix3 {--> #}
    {% if enable_timepix3 %}
    <!-- Timepix3 {-->
    {{ components.timepix3_macro(
      parent_link = root,
      name = "timepix3",
      material = "cdte",
      thickness = 0.002,
      max_message_window = 1.0,
      sensor_suffix = "",
      x = 0.115,
      y = -0.05,
      z = -0.05,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Light {--> #}
    {% if enable_light %}
    <!-- Light {-->
    {{ components.light_macro(
      parent_link = root,
      update_rate = 30,
      max_pitch_rate = 0.1,
      initial_on = True,
      compensate_tilt = True,
      x = 0.2,
      y = 0.0,
      z = -0.1,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Pendelum {--> #}
    {% if enable_pendulum %}
    <!-- Pendelum {-->
    {{ components.pendulum_macro(
      parent_link = root,
      number_of_chains = 30,
      chain_length = 0.1,
      chain_radius = 0.01,
      chain_mass = 0.5 / 30,
      x = 0,
      y = 0,
      z = -0.1)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# Water gun {--> #}
    {% if enable_water_gun %}
    <!-- Water gun {-->
    {{ components.water_gun_macro(
      parent_link = root,
      muzzle_velocity = 15.0,
      particle_capacity = 30,
      spread = 1.0,
      spawning_reservoir = "the_void",
      nozzle_offset_x = 0.21,
      nozzle_offset_y = 0.0,
      nozzle_offset_z = -0.085,
      x = 0,
      y = 0,
      z = -0.11,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->
    {% endif %}
    {# <!--}--> #}

    {# MBZIRC PROFILES {--> #}

    {% if wall_challenge %}
    <!-- wall_challenge {-->

    <!-- garmin {-->
    {{ components.external_garmin_macro(
      namespace = namespace,
      parent_link = root,
      orientation = "",
      x = 0.0,
      y = -0.221,
      z = -0.035,
      roll = 0,
      pitch = components.rad(90),
      yaw = components.rad(90))
    }}
    <!--}-->

    <!-- bluefox brick {-->
    {{ components.bluefox_camera_macro(
      namespace = namespace,
      camera_name = "bluefox_brick",
      parent_link = root,
      frame_rate = 100.0,
      hfov = 2.05,
      noise = 0.007,
      x = 0.0,
      y = -0.187,
      z = -0.055,
      roll = 0,
      pitch = components.rad(90),
      yaw = components.rad(-90))
    }}
    <!--}-->

    <!-- bluefox optflow {-->
    {{ components.bluefox_camera_macro(
      namespace = namespace,
      camera_name = "bluefox_optflow",
      parent_link = root,
      frame_rate = 100.0,
      hfov = 1.9,
      noise = 0.007,
      x = 0.0,
      y = -0.152,
      z = -0.055,
      roll = 0,
      pitch = components.rad(90),
      yaw = components.rad(-90))
    }}
    <!--}-->

    <!-- realsense tilted {-->
    {{ components.realsense_macro(
      namespace = namespace,
      camera_name = "rgbd",
      camera_suffix="_down",
      parent_link = root,
      enable_realistic_realsense = enable_realistic_realsense,
      x = 0.15,
      y = 0.15,
      z = -0.05,
      roll=-0.9727464,
      pitch=1.2572625,
      yaw=-2.5665787)
    }}
    <!--}-->
    
    <!--}-->
    {% endif %}
    
    {% if fire_challenge_blanket %}
    <!-- fire_challenge_blanket {-->

    <!-- garmin {-->
    {{ components.external_garmin_macro(
      namespace = namespace,
      parent_link = root,
      orientation = "",
      x = 0.177,
      y = 0.0735,
      z = -0.07,
      roll = 0,
      pitch = components.rad(90),
      yaw = 0)
    }}
    <!--}-->
    
    <!-- rplidar {-->
    {{ components.rplidar_macro(
      namespace = namespace,
      parent_link = root,
      x = 0.0,
      y = 0.0,
      z = 0.107,
      roll = 0,
      pitch = 0,
      yaw = 0)
    }}
    <!--}-->

    <!-- thermal_front {-->
    {{ components.thermal_camera_macro(
      camera_name = "thermal_front",
      camera_topic_name = "/" + namespace + "/thermal/front",
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = "thermal/front_optical",
      sensor_base_frame_name = namespace + "/thermal/front",
      parent_link = root,
      frame_rate = 14.0,
      hfov = 0.575959,
      image_width = 32,
      image_height = 32,
      x = 0.13,
      y = 0.0,
      z = -0.085,
      roll = 0,
      pitch = 1.0472,
      yaw = 0)
    }}
    <!--}-->

    <!-- thermal_front {-->
    {{ components.thermal_camera_macro(
      camera_name = "thermal_bottom",
      camera_topic_name = "/" + namespace + "/thermal/bottom",
      parent_frame_name = namespace + "/fcu",
      camera_frame_name = "thermal/bottom_optical",
      sensor_base_frame_name = namespace + "/thermal/bottom",
      parent_link = root,
      frame_rate = 14.0,
      hfov = 0.575959,
      image_width = 32,
      image_height = 32,
      x = 0.13,
      y = 0.0,
      z = -0.085,
      roll = 0,
      pitch = 1.5708,
      yaw = 0)
    }}
    <!--}-->
    
    <!--}-->
    {% endif %}
    {# <!--}--> #}

  </model>
</sdf>