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crazyflie2.xacro
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crazyflie2.xacro
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<?xml version="1.0"?>
<!--
Copyright 2020 Giuseppe Silano, University of Sannio in Benevento, Italy
Copyright 2018 Emanuele Aucone, University of Sannio in Benevento, Italy
Copyright 2018 Benjamin Rodriguez, MIT, USA
Copyright 2018 Luigi Iannelli, University of Sannio in Benevento, Italy
Copyright 2020 Ria Sonecha, MIT, USA
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<robot name="crazyflie2" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Properties (Taken from Novel Dynamic Inversion Architecture Design for Quadrocopter Control by Jian Wang et al.) -->
<xacro:property name="namespace" value="$(arg namespace)" />
<xacro:property name="rotor_velocity_slowdown_sim" value="50" />
<xacro:property name="use_mesh_file" value="true" />
<xacro:property name="mesh_file" value="package://rotors_description/meshes/crazyflie2.dae" />
<xacro:property name="mass" value="0.025" /> <!-- [kg] -->
<xacro:property name="body_width" value="0.045" /> <!-- [m] -->
<xacro:property name="body_height" value="0.03" /> <!-- [m] -->
<xacro:property name="mass_rotor" value="0.0005" /> <!-- [kg] -->
<xacro:property name="arm_length" value="0.046" /> <!-- [m] -->
<xacro:property name="rotor_offset_top" value="0.024" /> <!-- [m] -->
<xacro:property name="radius_rotor" value="0.0225" /> <!-- [m] -->
<xacro:property name="sin45" value="0.707106781186" />
<xacro:property name="cos45" value="0.707106781186" />
<!-- Forster's -->
<xacro:property name="motor_constant" value="1.28192e-08" /> <!-- [kg m/s^2] -->
<xacro:property name="moment_constant" value="5.964552e-03" /> <!-- [m] -->
<xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] -->
<xacro:property name="time_constant_down" value="0.025" /> <!-- [s] -->
<xacro:property name="max_rot_velocity" value="2618" /> <!-- [rad/s] -->
<xacro:property name="rotor_drag_coefficient" value="8.06428e-05" />
<xacro:property name="rolling_moment_coefficient" value="0.000001" />
<!-- Property Blocks -->
<xacro:property name="body_inertia">
<inertia ixx="1.657171e-05" ixy="0.0" ixz="0.0" iyy="1.657171e-05" iyz="0.0" izz="2.9261652e-05" />
</xacro:property>
<!-- inertia of a single rotor, assuming it is a cuboid. Height=0.4mm, width=0.8mm -->
<xacro:property name="rotor_inertia">
<xacro:box_inertia x="${radius_rotor}" y="0.007" z="0.003" mass="${mass_rotor*rotor_velocity_slowdown_sim}" />
</xacro:property>
<!-- Included URDF Files -->
<xacro:include filename="$(find rotors_description)/urdf/multirotor_base.xacro" />
<!-- Instantiate multirotor_base_macro once -->
<xacro:multirotor_base_macro
robot_namespace="${namespace}"
mass="${mass}"
body_width="${body_width}"
body_height="${body_height}"
use_mesh_file="${use_mesh_file}"
mesh_file="${mesh_file}">
<xacro:insert_block name="body_inertia" />
</xacro:multirotor_base_macro>
<!-- Instantiate rotors -->
<xacro:vertical_rotor
robot_namespace="${namespace}"
suffix="front-right"
direction="ccw"
motor_constant="${motor_constant}"
moment_constant="${moment_constant}"
parent="${namespace}/base_link"
mass_rotor="${mass_rotor}"
radius_rotor="${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="${rolling_moment_coefficient}"
color="Red"
use_own_mesh="false"
mesh="">
<origin xyz="${cos45*arm_length} -${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
</xacro:vertical_rotor>
<xacro:vertical_rotor
robot_namespace="${namespace}"
suffix="back-right"
direction="cw"
motor_constant="${motor_constant}"
moment_constant="${moment_constant}"
parent="${namespace}/base_link"
mass_rotor="${mass_rotor}"
radius_rotor="${radius_rotor}"
time_constant_up="${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}"
color="Blue"
use_own_mesh="false"
mesh="">
<origin xyz="-${cos45*arm_length} -${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
</xacro:vertical_rotor>
<xacro:vertical_rotor
robot_namespace="${namespace}"
suffix="back-left"
direction="ccw"
motor_constant="${motor_constant}"
moment_constant="${moment_constant}"
parent="${namespace}/base_link"
mass_rotor="${mass_rotor}"
radius_rotor="${radius_rotor}"
time_constant_up="${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}"
color="Blue"
use_own_mesh="false"
mesh="">
<origin xyz="-${cos45*arm_length} ${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
</xacro:vertical_rotor>
<xacro:vertical_rotor
robot_namespace="${namespace}"
suffix="front-left"
direction="cw"
motor_constant="${motor_constant}"
moment_constant="${moment_constant}"
parent="${namespace}/base_link"
mass_rotor="${mass_rotor}"
radius_rotor="${radius_rotor}"
time_constant_up="${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}"
color="Red"
use_own_mesh="false"
mesh="">
<origin xyz="${cos45*arm_length} ${sin45*arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
</xacro:vertical_rotor>
</robot>