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Blue square appears under blueboat
Hello! Any idea why a blue square appears under blueboat?
This is current blueboat model.
<sdf version="1.9">
<model name="blueboat">
<link name="base_link">
<inertial>
<pose>-0.05 0 0 0 0 0</pose>
<mass>30</mass>
<inertia>
<ixx>86.28907821859966</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>86.28907821859966</iyy>
<iyz>0</iyz>
<izz>5.026548245743671</izz>
</inertia>
</inertial>
<collision name="hull_collision">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_hull_collision.stl</uri>
</mesh>
</geometry>
</collision>
<visual name="hull_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_hull.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0 0 1 1</diffuse>
<ambient>1 0 1 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="aerial_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_aerial.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="crosstube_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_crosstube.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="flag_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_flag.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>1 1 0 1</diffuse>
<ambient>1 1 0 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="frame_asm_fore_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_frame_asm_fore.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.9</metalness>
<roughness>0.1</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="frame_asm_aft_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_frame_asm_aft.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.9</metalness>
<roughness>0.1</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="hatch_asm_stbd">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_hatch_asm_stbd.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="hatch_asm_port">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_hatch_asm_port.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="motor_stbd_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_motor_stbd.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
<visual name="motor_port_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_motor_port.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
</link>
<link name="motor_stbd_link">
<pose degrees="true">-0.488 -0.295 -0.272 -90 0 90</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name="prop_collision">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_prop_stbd.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="prop_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_prop_stbd.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
</link>
<joint name="motor_stbd_joint" type="revolute">
<parent>base_link</parent>
<child>motor_stbd_link</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-1e16</lower>
<upper>1e16</upper>
</limit>
<dynamics>
<damping>0.02</damping>
</dynamics>
</axis>
</joint>
<link name="motor_port_link">
<pose degrees="true">-0.488 0.295 -0.272 -90 0 90</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name="prop_collision">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_prop_port.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="prop_visual">
<geometry>
<mesh>
<uri>models://blueboat/meshes/blueboat_prop_port.dae</uri>
</mesh>
</geometry>
<material>
<diffuse>0.01 0.01 0.01 1</diffuse>
<ambient>0.01 0.01 0.01 1</ambient>
<specular>0.7 0.7 0.7 1</specular>
<pbr>
<metal>
<metalness>0.5</metalness>
<roughness>0.5</roughness>
</metal>
</pbr>
</material>
</visual>
</link>
<joint name="motor_port_joint" type="revolute">
<parent>base_link</parent>
<child>motor_port_link</child>
<axis>
<xyz>0 0 -1</xyz>
<limit>
<lower>-1e16</lower>
<upper>1e16</upper>
</limit>
<dynamics>
<damping>0.02</damping>
</dynamics>
</axis>
</joint>
<!-- sensors -->
<link name="imu_link">
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
</inertial>
<sensor name="imu_sensor" type="imu">
<pose degrees="true">0 0 0 180 0 0</pose>
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
</sensor>
</link>
<joint name="imu_joint" type="revolute">
<child>imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<dynamics>
<damping>1.0</damping>
</dynamics>
</axis>
</joint>
<!-- plugins -->
<plugin name="gz::sim::systems::JointStatePublisher"
filename="gz-sim-joint-state-publisher-system">
</plugin>
<plugin name="gz::sim::systems::OdometryPublisher"
filename="gz-sim-odometry-publisher-system">
<odom_frame>odom</odom_frame>
<robot_base_frame>base_link</robot_base_frame>
<dimensions>3</dimensions>
</plugin>
<!-- left motor thruster cw -->
<plugin name="gz::sim::systems::Thruster"
filename="gz-sim-thruster-system">
<namespace>blueboat</namespace>
<joint_name>motor_port_joint</joint_name>
<thrust_coefficient>-0.02</thrust_coefficient>
<fluid_density>1025</fluid_density>
<propeller_diameter>0.112</propeller_diameter>
<velocity_control>0</velocity_control>
<use_angvel_cmd>0</use_angvel_cmd>
</plugin>
<!-- right motor thruster ccw -->
<plugin name="gz::sim::systems::Thruster"
filename="gz-sim-thruster-system">
<namespace>blueboat</namespace>
<joint_name>motor_stbd_joint</joint_name>
<thrust_coefficient>0.02</thrust_coefficient>
<fluid_density>1025</fluid_density>
<propeller_diameter>0.112</propeller_diameter>
<velocity_control>0</velocity_control>
<use_angvel_cmd>0</use_angvel_cmd>
</plugin>
<!-- hydrodynamics plugin -->
<plugin name="gz::sim::systems::Hydrodynamics"
filename="gz-waves1-hydrodynamics-system">
<enable>blueboat::base_link</enable>
<hydrodynamics>
<damping_on>1</damping_on>
<viscous_drag_on>1</viscous_drag_on>
<pressure_drag_on>1</pressure_drag_on>
</hydrodynamics>
<markers>
<update_rate>10</update_rate>
<water_patch>1</water_patch>
<waterline>1</waterline>
<underwater_surface>1</underwater_surface>
</markers>
</plugin>
<!-- ardupilot plugin -->
<plugin name="ArduPilotPlugin"
filename="ArduPilotPlugin">
<fdm_addr>127.0.0.1</fdm_addr>
<fdm_port_in>9002</fdm_port_in>
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
<lock_step>1</lock_step>
<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
<imuName>imu_link::imu_sensor</imuName>
<!--
port motor cw
SERVO1_FUNCTION 73 (ThrottleLeft)
SERVO1_MAX 2000
SERVO1_MIN 1000
-->
<control channel="0">
<jointName>motor_port_joint</jointName>
<multiplier>70</multiplier>
<offset>-0.5</offset>
<servo_min>1000</servo_min>
<servo_max>2000</servo_max>
<type>COMMAND</type>
<cmd_topic>/model/blueboat/joint/motor_port_joint/cmd_thrust</cmd_topic>
</control>
<!--
stbd motor ccw
SERVO3_FUNCTION 74 (ThrottleRight)
SERVO3_MAX 2000
SERVO3_MIN 1000
-->
<control channel="2">
<jointName>motor_stbd_joint</jointName>
<multiplier>70</multiplier>
<offset>-0.5</offset>
<servo_min>1000</servo_min>
<servo_max>2000</servo_max>
<type>COMMAND</type>
<cmd_topic>/model/blueboat/joint/motor_stbd_joint/cmd_thrust</cmd_topic>
</control>
</plugin>
</model>
</sdf>
Error arduplane no process found
OS Ubuntu 20.04
dir structure
~/ardupilot
~/simulation/SITL_Models
Commands
$ cd ~/simulation
$ export ARDUPILOT_HOME=/home/john/ardupilot
$ source SITL_Models/Gazebo/launch/truck-quadplane-landing.sh
~/simulation/SITL_Models/Gazebo/worlds ~/simulation
/simulation/simulation$ ^Carduplane: no process found
Setting SIM_SPEEDUP=1.000000
Starting SITL: JSON
Home: -35.363262 149.165237 alt=584.000000m hdg=0.000000
JSON control interface set to 127.0.0.1:9002
Starting sketch 'Rover'
Starting SITL input
Using Irlock at port : 9005
bind port 5760 for 0
Serial port 0 on TCP port 5760
Waiting for connection ....
Setting SIM_SPEEDUP=1.000000
Starting SITL: JSON
Home: -35.363262 149.165237 alt=584.000000m hdg=0.000000
JSON control interface set to 127.0.0.1:9012
Starting sketch 'Rover'
Starting SITL input
Using Irlock at port : 9015
bind port 5770 for 0
Serial port 0 on TCP port 5770
Waiting for connection ....
Setting SIM_SPEEDUP=1.000000
Starting SITL: JSON
Home: -35.363262 149.165237 alt=584.000000m hdg=0.000000
JSON control interface set to 127.0.0.1:9022
Starting sketch 'ArduPlane'
Starting SITL input
Using Irlock at port : 9025
bind port 5780 for 0
Serial port 0 on TCP port 5780
Waiting for connection ....
{PRESS CTRL-C}
^CSITL_Models/Gazebo/launch/truck-quadplane-landing.sh: line 97: 504609 Killed $PLANE -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 2 --defaults $QUADPLANE_DEFAULTS,follower.param
[4]+ Done wait
SITL_Models/Gazebo/launch/truck-quadplane-landing.sh: line 60: 504601 Killed $ROVER -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 0 --defaults $TRACTOR_DEFAULTS,leader.param
SITL_Models/Gazebo/launch/truck-quadplane-landing.sh: line 74: 504606 Killed $ROVER -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 1 --defaults $TRAILER_DEFAULTS,leader.param
[3]+ Exit 137 ( cd sitl/quadplane && $PLANE -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 2 --defaults $QUADPLANE_DEFAULTS,follower.param )
john@cd0254nb032364:
ardurover: no process found
[1] Exit 137 ( cd sitl/tractor && $ROVER -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 0 --defaults $TRACTOR_DEFAULTS,leader.param )
[2] Exit 137 ( cd sitl/trailer && $ROVER -S --model JSON --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --speedup 1 --instance 1 --defaults $TRAILER_DEFAULTS,leader.param )
[3]+ Exit 1 source SITL_Models/Gazebo/launch/truck-quadplane-landing.sh
Alti Transition Quadplane Ignition model collision mesh needs simplifying
The collision mesh for the Alti Transition Quadplane Ignition model is too detailed. This does not cause a problem in simple worlds such as the runway used to develop and test the model, but becomes apparent when using a more complex world such as the Sonama Raceway model.
Rather than use the visual meshes for collisions, they can replaced by decimated versions or with a collection of primitives. This will not impact the aerodynamics of the model or tuned parameters as the collision meshes are not used in the lift-drag calculation.
Update Gazebo plugin names in WSC Aircraft
Replace ignition with gz-sim and use the short form for plugin file names.
- Support for
ignitionis deprecated, and will eventually be removed from Gazebo. - The short form for library file names is platform independent.
alti_transition_quad the velocity value is wrong in Gazabo
I used the following command for simulation, but the speed has been between 1~2m/s after takeoff
but I tried using skywalker_x8_quad, it worked fine
gazebo: gz sim -v4 -r alti_transition_runway.sdf
ardupilot(version 4.4): sim_vehicle.py -v ArduPlane --model JSON --add-param-file=$HOME/ardupilot_gazebo/SITL_Models/Gazebo/config/alti_transition_quad.param -f quadplane --console --map
The error continues to occur. Is there a way to take action?
lck@aaa:~/gz_ws/src$ gz sim -v4 -r skycat_runway.sdf
[Wrn] [gz.cc:102] Fuel world download failed because Fetch failed. Other errors
bashrc에
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:
$HOME/SITL_Models/Gazebo/models:
$HOME/SITL_Models/Gazebo/worlds
I added it and proceeded with the source ~/.bashrc,
It doesn't work.
Someone tell me how to do it
*iris_runway or zephyr runs well
thank you.
Migrate Ignition models to Gazebo
Gazebo has been renamed from Ignition (back to Gazebo). Gazebo Garden is now released and set as default for Ubuntu and macOS. There are a number of namespace, environment variable and server settings that need to be updated.
- Rename the top level directory from SITL_Models/Ignition to SITL_Models/Gazebo.
- Update the docs to replace the
IGN_environment variables with theirGZ_replacements. - The server providing the models has a different URL - the model and world files referencing online models need to be updated.
- Pending ArduPilot/ardupilot_gazebo#32, a number of models may be simplified. There is a case to be made for having a base model free of plugins and then composing the desired configuration including plugins and other peripherals as composites.
Where is 'waves' world?
I can't find waves world for catamaran_waves.sdf
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