Add Forster's parameters #56

gsilano · Aug 22, 2020 · eaa53c9 · eaa53c9
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diff --git a/rotors_comm/CHANGELOG.rst b/rotors_comm/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_comm
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_comm/package.xml b/rotors_comm/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_comm</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>RotorS specific messages and services.</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_control/CHANGELOG.rst b/rotors_control/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_control/package.xml b/rotors_control/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_control</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>RotorS control package</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_description/CHANGELOG.rst b/rotors_description/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package rotors_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+* Add crazyflie2_forster.xacro file with Forster's parameters as described in #56
+* Contributors: Tonirayn
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_description/package.xml b/rotors_description/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_description</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The rotors_description package provides URDF models of the AscTec multicopters.</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_description/urdf/crazyflie2_forster.xacro b/rotors_description/urdf/crazyflie2_forster.xacro
@@ -0,0 +1,159 @@
+<?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="$(arg namespace)" />
+  <xacro:property name="rotor_velocity_slowdown_sim" value="50" />
+  <xacro:property name="use_mesh_file" value="true" />
+  <xacro:property name="mesh_file" value="package://rotors_description/meshes/crazyflie2.dae" />
+  <xacro:property name="mass" value="0.025" /> <!-- [kg] -->
+  <xacro:property name="body_width" value="0.045" /> <!-- [m] -->
+  <xacro:property name="body_height" value="0.03" /> <!-- [m] -->
+  <xacro:property name="mass_rotor" value="0.0005" /> <!-- [kg] -->
+  <xacro:property name="arm_length" value="0.046" /> <!-- [m] -->
+  <xacro:property name="rotor_offset_top" value="0.024" /> <!-- [m] -->
+  <xacro:property name="radius_rotor" value="0.0225" /> <!-- [m] -->
+  <xacro:property name="sin45" value="0.707106781186" />
+  <xacro:property name="cos45" value="0.707106781186" />
+  <!-- Forster's -->
+  <xacro:property name="motor_constant" value="1.71465181e-08" /> <!-- [kg m/s^2] -->
+  <xacro:property name="moment_constant" value="0.004459273" /> <!-- [m] -->
+  <xacro:property name="time_constant_up" value="0.0125" /> <!-- [s] -->
+  <xacro:property name="time_constant_down" value="0.025" /> <!-- [s] -->
+  <xacro:property name="max_rot_velocity" value="3052" /> <!-- [rad/s] -->
+  <xacro:property name="rotor_drag_coefficient" value="1.066428e-06" />
+  <xacro:property name="rolling_moment_coefficient" value="0" /> 
+
+  <!-- Property Blocks -->
+  <xacro:property name="body_inertia">
+    <inertia ixx="1.657171e-05" ixy="0.0" ixz="0.0" iyy="1.657171e-05" iyz="0.0" izz="2.9261652e-05" />
+  </xacro:property>
+
+  <!-- inertia of a single rotor, assuming it is a cuboid. Height=0.4mm, width=0.8mm -->
+  <xacro:property name="rotor_inertia">
+    <xacro:box_inertia x="${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>
diff --git a/rotors_evaluation/CHANGELOG.rst b/rotors_evaluation/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_evaluation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_evaluation/package.xml b/rotors_evaluation/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rotors_evaluation</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The dataset evaluation package for the RotorS simulator.</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_gazebo/CHANGELOG.rst b/rotors_gazebo/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 * Add a simple scenario in which using the Octomap plugin with the Crazyflie 2.0

diff --git a/rotors_gazebo/package.xml b/rotors_gazebo/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_gazebo</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The rotors_gazebo package</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_gazebo_plugins/CHANGELOG.rst b/rotors_gazebo_plugins/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_gazebo_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_gazebo_plugins/package.xml b/rotors_gazebo_plugins/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_gazebo_plugins</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The rotors_gazebo_plugins package</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_joy_interface/CHANGELOG.rst b/rotors_joy_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_joy_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_joy_interface/package.xml b/rotors_joy_interface/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_joy_interface</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The rotors_joy_interface package to control MAVs with a joystick</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rotors_simulator/CHANGELOG.rst b/rotors_simulator/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rotors_simulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rotors_simulator/package.xml b/rotors_simulator/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rotors_simulator</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>CrazyS is an extension ROS package of RotorS aimed to modeling, developing and integrating the Crazyflie nano-quadcopter.</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>

diff --git a/rqt_rotors/CHANGELOG.rst b/rqt_rotors/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_rotors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.14 (2020-08-22)
+-------------------
+
 4.0.13 (2020-05-13)
 -------------------
 

diff --git a/rqt_rotors/package.xml b/rqt_rotors/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rqt_rotors</name>
-  <version>4.0.13</version>
+  <version>4.0.14</version>
   <description>The rqt_rotors package</description>
 
   <maintainer email="giuseppe.silano@unisannio.it">Giuseppe Silano</maintainer>