Gazebo: Add model for Sawppy rover #95
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Very nice to see the custom support. Just to link things together here is the related issue ArduPilot/ardupilot#20563 |
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1. Initial version moved from https://github.com/srmainwaring/ardupilot_gazebo_models. 2. Update mode for Gazebo Sim - Update materials removing scripts. - Fix rocker joints and drop turnbuckle until close kinematic chain issue resolved. 3. Add example world. 4. Add draft version of user document - model guide. 5. Add mixer, params and user guide. 6. Add sensors and plugins. - Remove the separate sawppy model requiring nesting. - Rename params. - Add IMU sensor. - Add plugins and adjust position and velocity joint controllers. 7. Update user guide. 8. Fix typo in plugin names (remove trailing .) 9. Add image to docs and update rover materials. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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@rmackay9 I'll merge this PR to provide a base level example for mars-type rovers. As a follow up, it might be useful to move the mixer script to libraries/AP_Scripting/applets? There are a few additions to make it stand alone which I'll outline in ArduPilot/ardupilot#20563. |
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This PR is for a version of Roger Chen's Sawppy Rover controlled using ArduPilot with a custom mixer scripted in Lua.
Details
ros_controlpackage. This version is independent of ROS and the model is defined completely using Gazebos SDF markup.SITL_Models/Gazebo/docs/Swappy.md.Context
Future Dev
The rocker-bogie suspension can be enabled once the support for closed kinematic chains available in Gazebo classic has been completed in Gazebo Sim. See the following for details: