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srmainwaringsrmainwaring
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Gazebo: Add model for Omnicopter
- Migrate ignition to gz. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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‎Gazebo/models/omnicopter/model.sdf‎

Lines changed: 39 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -886,37 +886,37 @@
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</joint>
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<!-- plugins -->
889-
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
890-
name="ignition::gazebo::systems::JointStatePublisher">
889+
<plugin filename="gz-sim-joint-state-publisher-system"
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name="gz::sim::systems::JointStatePublisher">
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</plugin>
892-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_1_joint</joint_name>
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</plugin>
896-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
896+
<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_2_joint</joint_name>
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</plugin>
900-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_3_joint</joint_name>
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</plugin>
904-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_4_joint</joint_name>
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</plugin>
908-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_5_joint</joint_name>
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</plugin>
912-
<plugin filename="libignition-gazebo-apply-joint-force-system.so"
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name="ignition::gazebo::systems::ApplyJointForce">
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>motor_6_joint</joint_name>
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</plugin>
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<!-- prop motor_1 (cw) lift-drag -->
918-
<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
918+
<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -932,8 +932,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_1_link</link_name>
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</plugin>
935-
<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -951,8 +951,8 @@
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</plugin>
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<!-- prop motor_2 (cw) lift-drag -->
954-
<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -968,8 +968,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_2_link</link_name>
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</plugin>
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<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
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<plugin filename="gz-sim-lift-drag-system"
972+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -987,8 +987,8 @@
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</plugin>
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<!-- prop motor_3 (ccw) lift-drag -->
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<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1004,8 +1004,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_3_link</link_name>
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</plugin>
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<plugin filename="libignition-gazebo-lift-drag-system.so"
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name="ignition::gazebo::systems::LiftDrag">
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<plugin filename="gz-sim-lift-drag-system"
1008+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1023,8 +1023,8 @@
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</plugin>
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<!-- prop motor_4 (ccw) lift-drag -->
1026-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1027-
name="ignition::gazebo::systems::LiftDrag">
1026+
<plugin filename="gz-sim-lift-drag-system"
1027+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1040,8 +1040,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_4_link</link_name>
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</plugin>
1043-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1044-
name="ignition::gazebo::systems::LiftDrag">
1043+
<plugin filename="gz-sim-lift-drag-system"
1044+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1059,8 +1059,8 @@
10591059
</plugin>
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<!-- prop motor_5 (cw) lift-drag -->
1062-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1063-
name="ignition::gazebo::systems::LiftDrag">
1062+
<plugin filename="gz-sim-lift-drag-system"
1063+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1076,8 +1076,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_5_link</link_name>
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</plugin>
1079-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1080-
name="ignition::gazebo::systems::LiftDrag">
1079+
<plugin filename="gz-sim-lift-drag-system"
1080+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1095,8 +1095,8 @@
10951095
</plugin>
10961096

10971097
<!-- prop motor_6 (ccw) lift-drag -->
1098-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1099-
name="ignition::gazebo::systems::LiftDrag">
1098+
<plugin filename="gz-sim-lift-drag-system"
1099+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1112,8 +1112,8 @@
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<upward>0 0 1</upward>
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<link_name>motor_6_link</link_name>
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</plugin>
1115-
<plugin filename="libignition-gazebo-lift-drag-system.so"
1116-
name="ignition::gazebo::systems::LiftDrag">
1115+
<plugin filename="gz-sim-lift-drag-system"
1116+
name="gz::sim::systems::LiftDrag">
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<a0>0.3</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
@@ -1130,7 +1130,7 @@
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<link_name>motor_6_link</link_name>
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</plugin>
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1133-
<plugin name="ArduPilotPlugin" filename="libArduPilotPlugin.so">
1133+
<plugin name="ArduPilotPlugin" filename="ArduPilotPlugin">
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<!-- Port settings -->
11351135
<fdm_addr>127.0.0.1</fdm_addr>
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<fdm_port_in>9002</fdm_port_in>

‎Gazebo/worlds/omnicopter_runway.sdf‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,20 +1,20 @@
11
<?xml version="1.0" ?>
22
<sdf version="1.7">
33
<world name="omnicopter_runway">
4-
<plugin filename="libignition-gazebo-physics-system.so"
5-
name="ignition::gazebo::systems::Physics">
4+
<plugin filename="gz-sim-physics-system"
5+
name="gz::sim::systems::Physics">
66
</plugin>
7-
<plugin filename="libignition-gazebo-user-commands-system.so"
8-
name="ignition::gazebo::systems::UserCommands">
7+
<plugin filename="gz-sim-user-commands-system"
8+
name="gz::sim::systems::UserCommands">
99
</plugin>
10-
<plugin filename="libignition-gazebo-scene-broadcaster-system.so"
11-
name="ignition::gazebo::systems::SceneBroadcaster">
10+
<plugin filename="gz-sim-scene-broadcaster-system"
11+
name="gz::sim::systems::SceneBroadcaster">
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</plugin>
13-
<plugin filename="libignition-gazebo-imu-system.so"
14-
name="ignition::gazebo::systems::Imu">
13+
<plugin filename="gz-sim-imu-system"
14+
name="gz::sim::systems::Imu">
1515
</plugin>
16-
<plugin filename="ignition-gazebo-forcetorque-system"
17-
name="ignition::gazebo::systems::ForceTorque" />
16+
<plugin filename="gz-sim-forcetorque-system"
17+
name="gz::sim::systems::ForceTorque" />
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1919
<scene>
2020
<ambient>1.0 1.0 1.0</ambient>

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