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Updated hummingbird.xacro compatibility with multirotor_base #7

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Updated hummingbird.xacro compatibility with multirotor_base #7

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7ecc46a
added mesh_scale args, updated to work with multirotor_base.xacro
wilselby Jan 10, 2016
9cd90cf
removed redundant mod to link_name_
wilselby Jan 25, 2016
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14 changes: 13 additions & 1 deletion rotors_description/urdf/hummingbird.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ for Quadrocopter Control by Jian Wang et al.) -->
<xacro:property name="namespace" value="hummingbird" />
<xacro:property name="rotor_velocity_slowdown_sim" value="10" />
<xacro:property name="mesh_file" value="hummingbird.dae" />
<xacro:property name="mesh_scale" value="1 1 1"/>
<xacro:property name="mesh_scale_prop" value=".12 .12 .12"/>
<xacro:property name="mass" value="0.68" /> <!-- [kg] -->
<xacro:property name="body_width" value="0.1" /> <!-- [m] -->
<xacro:property name="body_height" value="0.12" /> <!-- [m] -->
Expand Down Expand Up @@ -63,7 +65,9 @@ for Quadrocopter Control by Jian Wang et al.) -->
mass="${mass}"
body_width="${body_width}"
body_height="${body_height}"
mesh_file="${mesh_file}">
mesh_file="${mesh_file}"
mesh_scale="${mesh_scale}"
color="DarkGrey">
<xacro:insert_block name="body_inertia" />
</xacro:multirotor_base_macro>

Expand All @@ -83,6 +87,8 @@ for Quadrocopter Control by Jian Wang et al.) -->
motor_number="0"
rotor_drag_coefficient="${rotor_drag_coefficient}"
rolling_moment_coefficient="${rolling_moment_coefficient}"
mesh ="propeller"
mesh_scale="${mesh_scale_prop}"
color="Red">
<origin xyz="${arm_length} 0 ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
Expand All @@ -103,6 +109,8 @@ for Quadrocopter Control by Jian Wang et al.) -->
motor_number="1"
rotor_drag_coefficient="${rotor_drag_coefficient}"
rolling_moment_coefficient="${rolling_moment_coefficient}"
mesh ="propeller"
mesh_scale="${mesh_scale_prop}"
color="Blue">
<origin xyz="0 ${arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
Expand All @@ -123,6 +131,8 @@ for Quadrocopter Control by Jian Wang et al.) -->
motor_number="2"
rotor_drag_coefficient="${rotor_drag_coefficient}"
rolling_moment_coefficient="${rolling_moment_coefficient}"
mesh ="propeller"
mesh_scale="${mesh_scale_prop}"
color="Blue">
<origin xyz="-${arm_length} 0 ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
Expand All @@ -143,6 +153,8 @@ for Quadrocopter Control by Jian Wang et al.) -->
motor_number="3"
rotor_drag_coefficient="${rotor_drag_coefficient}"
rolling_moment_coefficient="${rolling_moment_coefficient}"
mesh ="propeller"
mesh_scale="${mesh_scale_prop}"
color="Blue">
<origin xyz="0 -${arm_length} ${rotor_offset_top}" rpy="0 0 0" />
<xacro:insert_block name="rotor_inertia" />
Expand Down
2 changes: 1 addition & 1 deletion rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp
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Expand Up @@ -167,7 +167,7 @@ void GazeboOdometryPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
noise_normal_angular_velocity.z * noise_normal_angular_velocity.z;
twist_covariance = twist_covd.asDiagonal();

link_name_ = namespace_ + "/" + link_name_;
//link_name_ = namespace_ + "/" + link_name_;

// Listen to the update event. This event is broadcast every
// simulation iteration.
Expand Down