-
Notifications
You must be signed in to change notification settings - Fork 2
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Reorganize plugins into different models (#78)
* reorganize plugins into different models Signed-off-by: Michael Anderson <anderson@mbari.org> * move more plugins from world to ros model Signed-off-by: Michael Anderson <anderson@mbari.org>
- Loading branch information
Showing
19 changed files
with
196 additions
and
126 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.8"> | ||
| <model name="MBARI_WEC"> | ||
|
|
||
| <include merge="true"> | ||
| <uri>package://buoy_description/models/mbari_wec_base</uri> | ||
| </include> | ||
|
|
||
| <plugin filename="ElectroHydraulicPTO" name="buoy_gazebo::ElectroHydraulicPTO"> | ||
| <PrismaticJointName>HydraulicRam</PrismaticJointName> | ||
| <PistonArea>1.375</PistonArea> | ||
| <HydMotorDisp>0.30</HydMotorDisp> | ||
| <RotorInertia>1</RotorInertia> | ||
| </plugin> | ||
|
|
||
| <!-- Add Upper/Lower Polytropic Spring plugin --> | ||
| <plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring"> | ||
| <JointName>HydraulicRam</JointName> | ||
| <chamber>upper_polytropic</chamber> | ||
| <is_upper>true</is_upper> | ||
| <!-- measure of valve opening cross-section and duration (meter-seconds) --> | ||
| <valve_absement>49e-7</valve_absement> | ||
| <pump_absement>14e-8</pump_absement> | ||
| <pump_pressure>1.7e+6</pump_pressure> | ||
| <stroke>2.03</stroke> | ||
| <piston_area>0.0127</piston_area> | ||
| <dead_volume>0.0266</dead_volume> | ||
| <T0>283.15</T0> | ||
| <R_specific>0.2968</R_specific> | ||
| <c_p>1.04</c_p> | ||
| <hysteresis>true</hysteresis> | ||
| <n1>1.2371</n1> | ||
| <n2>1.2307</n2> | ||
| <x1>0.9790</x1> | ||
| <x2>1.1912</x2> | ||
| <P1>410291</P1> | ||
| <P2>410266</P2> | ||
| </plugin> | ||
|
|
||
| <!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>--> | ||
| <plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring"> | ||
| <JointName>HydraulicRam</JointName> | ||
| <chamber>lower_polytropic</chamber> | ||
| <is_upper>false</is_upper> | ||
| <!-- measure of valve opening cross-section and duration (meter-seconds) --> | ||
| <valve_absement>49e-7</valve_absement> | ||
| <pump_absement>14e-8</pump_absement> | ||
| <pump_pressure>1.7e+6</pump_pressure> | ||
| <stroke>2.03</stroke> | ||
| <piston_area>0.0115</piston_area> | ||
| <dead_volume>0.0523</dead_volume> | ||
| <T0>283.15</T0> | ||
| <R_specific>0.2968</R_specific> | ||
| <c_p>1.04</c_p> | ||
| <hysteresis>true</hysteresis> | ||
| <n1>1.2327</n1> | ||
| <n2>1.2518</n2> | ||
| <x1>1.1958</x1> | ||
| <x2>1.3935</x2> | ||
| <P1>1212090</P1> | ||
| <P2>1212140</P2> | ||
| </plugin> | ||
| <!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>--> | ||
|
|
||
| </model> | ||
| </sdf> |
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>MBARI_WEC</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.8">model.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Michael Anderson</name> | ||
| <email>anderson@mbari.org</email> | ||
| </author> | ||
| <author> | ||
| <name>Louise Poubel</name> | ||
| <email>louise@openrobotics.org</email> | ||
| </author> | ||
| <author> | ||
| <name>Dharini Dutia</name> | ||
| <email>dharini@openrobotics.org</email> | ||
| </author> | ||
|
|
||
| <description> | ||
| Base MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy. | ||
| </description> | ||
| </model> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>MBARI_WEC</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.8">model.sdf</sdf> | ||
|
|
||
| <author> | ||
| <name>Michael Anderson</name> | ||
| <email>anderson@mbari.org</email> | ||
| </author> | ||
| <author> | ||
| <name>Louise Poubel</name> | ||
| <email>louise@openrobotics.org</email> | ||
| </author> | ||
| <author> | ||
| <name>Dharini Dutia</name> | ||
| <email>dharini@openrobotics.org</email> | ||
| </author> | ||
|
|
||
| <description> | ||
| ROS2-enabled MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy | ||
| with quasi-static multi-physics plugins for Pneumatic Spring and Electro-Hydraulic Power Take-Off. | ||
| </description> | ||
| </model> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.8"> | ||
| <model name="MBARI_WEC_ROS"> | ||
|
|
||
| <include merge="true"> | ||
| <uri>package://buoy_description/models/mbari_wec</uri> | ||
| </include> | ||
|
|
||
| <!-- Handle Unimplemented Services --> | ||
| <plugin filename="NoOpController" name="buoy_gazebo::NoOpController"> | ||
| <namespace>/</namespace> | ||
| <node_name>noop_controller</node_name> | ||
| </plugin> | ||
|
|
||
| <plugin filename="SpringController" name="buoy_gazebo::SpringController"> | ||
| <JointName>HydraulicRam</JointName> | ||
| <namespace>/</namespace> | ||
| <node_name>spring_controller</node_name> | ||
| <topic>spring_data</topic> | ||
| <publish_rate>10</publish_rate> | ||
| </plugin> | ||
|
|
||
| <plugin filename="PowerController" name="buoy_gazebo::PowerController"> | ||
| <JointName>HydraulicRam</JointName> | ||
| <namespace>/</namespace> | ||
| <node_name>power_controller</node_name> | ||
| <topic>power_data</topic> | ||
| <publish_rate>10</publish_rate> | ||
| </plugin> | ||
|
|
||
| <plugin filename="XBowAHRS" name="buoy_gazebo::XBowAHRS"> | ||
| <namespace>/</namespace> | ||
| <node_name>xbow_ahrs</node_name> | ||
| <xb_topic>ahrs_data</xb_topic> | ||
| <imu_topic>xb_imu</imu_topic> | ||
| <publish_rate>10</publish_rate> | ||
| </plugin> | ||
|
|
||
| <plugin | ||
| filename="ignition-gazebo-joint-state-publisher-system" | ||
| name="ignition::gazebo::systems::JointStatePublisher"> | ||
| </plugin> | ||
|
|
||
| <plugin | ||
| filename="ignition-gazebo-pose-publisher-system" | ||
| name="ignition::gazebo::systems::PosePublisher"> | ||
| <publish_link_pose>true</publish_link_pose> | ||
| <use_pose_vector_msg>true</use_pose_vector_msg> | ||
| <static_publisher>true</static_publisher> | ||
| <static_update_frequency>1</static_update_frequency> | ||
| </plugin> | ||
|
|
||
| <plugin | ||
| filename="ignition-gazebo-odometry-publisher-system" | ||
| name="ignition::gazebo::systems::OdometryPublisher"> | ||
| <dimensions>3</dimensions> | ||
| <odom_frame>MBARI_WEC_ROS/odom</odom_frame> | ||
| <robot_base_frame>MBARI_WEC_ROS</robot_base_frame> | ||
| </plugin> | ||
|
|
||
| </model> | ||
| </sdf> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.