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Helicopter: set physics params in detachable joints
- Use gazebosim/gz-physics#754 - Use gazebosim/gz-sim#2960 Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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‎Gazebo/models/rotor_head_ccw/model.sdf‎

Lines changed: 32 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1771,27 +1771,43 @@ limitations in the DetachableJoint plugin.
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<child_link>blade_rod_2b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>blade_rod_1a_link</parent_link>
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<child_link>blade_rod_1b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>lever_rod_1a_link</parent_link>
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<child_link>lever_rod_1b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>lever_rod_2a_link</parent_link>
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<child_link>lever_rod_2b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<!-- servo links -->
@@ -1801,20 +1817,32 @@ limitations in the DetachableJoint plugin.
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<child_link>servo_rod_3b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>servo_rod_2a_link</parent_link>
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<child_link>servo_rod_2b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>servo_rod_1a_link</parent_link>
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<child_link>servo_rod_1b_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<!-- guide link (weld joint at child origin -->
@@ -1824,6 +1852,10 @@ limitations in the DetachableJoint plugin.
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<child_link>guide_v_link</child_link>
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<child_model>rotor_head_ccw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::JointStatePublisher"

‎Gazebo/models/rotor_head_cw/model.sdf‎

Lines changed: 32 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2147,27 +2147,43 @@ Command motor angular velocity
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<child_link>blade_rod_1b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>blade_rod_2a_link</parent_link>
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<child_link>blade_rod_2b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>lever_rod_1a_link</parent_link>
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<child_link>lever_rod_1b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>lever_rod_2a_link</parent_link>
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<child_link>lever_rod_2b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<!-- servo links -->
@@ -2177,20 +2193,32 @@ Command motor angular velocity
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<child_link>servo_rod_3b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>servo_rod_2a_link</parent_link>
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<child_link>servo_rod_2b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::DetachableJoint"
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filename="libgz-sim-detachable-joint-system.so">
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<parent_link>servo_rod_1a_link</parent_link>
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<child_link>servo_rod_1b_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<!-- guide link (weld joint at child origin -->
@@ -2200,6 +2228,10 @@ Command motor angular velocity
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<child_link>guide_v_link</child_link>
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<child_model>rotor_head_cw</child_model>
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<joint_type>fixed</joint_type>
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<physics>
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<cfm>1.0e-6</cfm>
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<erp>0.8</erp>
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</physics>
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</plugin>
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<plugin name="gz::sim::systems::JointStatePublisher"

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