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quadrotor_simple_controller.gazebo.xacro
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quadrotor_simple_controller.gazebo.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Quadrotor Simple Controller Plugin -->
<xacro:macro name="quadrotor_simple_controller" params="state_topic imu_topic">
<gazebo>
<plugin name="quadrotor_simple_controller" filename="libhector_gazebo_quadrotor_simple_controller.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>cmd_vel</topicName>
<stateTopic>${state_topic}</stateTopic>
<imuTopic>${imu_topic}</imuTopic>
<rollpitchProportionalGain>10.0</rollpitchProportionalGain>
<rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
<rollpitchLimit>0.5</rollpitchLimit>
<yawProportionalGain>2.0</yawProportionalGain>
<yawDifferentialGain>1.0</yawDifferentialGain>
<yawLimit>1.5</yawLimit>
<velocityXYProportionalGain>5.0</velocityXYProportionalGain>
<velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
<velocityXYLimit>5</velocityXYLimit>
<velocityZProportionalGain>5.0</velocityZProportionalGain>
<velocityZDifferentialGain>1.0</velocityZDifferentialGain>
<velocityZLimit>2</velocityZLimit>
<maxForce>30</maxForce>
</plugin>
</gazebo>
</xacro:macro>
</robot>