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Adding control surfaces to the cessna model.
This commit is contained in:
Carlos Agüero
parent
0d1b52f7e2
commit
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File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
136
cessna/model.sdf
136
cessna/model.sdf
@ -64,7 +64,7 @@
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</link>
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<link name="left_exterior_wing">
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<link name="left_aileron">
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<inertial>
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<mass>2</mass>
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<inertia>
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@ -81,7 +81,7 @@
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/left_exterior_wing.dae</uri>
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<uri>model://cessna/meshes/left_aileron.dae</uri>
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</mesh>
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</geometry>
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</collision>
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@ -89,13 +89,13 @@
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/left_exterior_wing.dae</uri>
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<uri>model://cessna/meshes/left_aileron.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="left_interior_wing">
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<link name="left_flap">
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<inertial>
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<mass>2</mass>
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<inertia>
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@ -112,7 +112,7 @@
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/left_interior_wing.dae</uri>
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<uri>model://cessna/meshes/left_flap.dae</uri>
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</mesh>
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</geometry>
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</collision>
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@ -120,13 +120,13 @@
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/left_interior_wing.dae</uri>
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<uri>model://cessna/meshes/left_flap.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="right_exterior_wing">
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<link name="right_aileron">
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<inertial>
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<mass>2</mass>
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<inertia>
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@ -143,7 +143,7 @@
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/right_exterior_wing.dae</uri>
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<uri>model://cessna/meshes/right_aileron.dae</uri>
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</mesh>
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</geometry>
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</collision>
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@ -151,13 +151,13 @@
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/right_exterior_wing.dae</uri>
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<uri>model://cessna/meshes/right_aileron.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="right_interior_wing">
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<link name="right_flap">
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<inertial>
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<mass>2</mass>
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<inertia>
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@ -174,7 +174,7 @@
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/right_interior_wing.dae</uri>
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<uri>model://cessna/meshes/right_flap.dae</uri>
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</mesh>
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</geometry>
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</collision>
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@ -182,13 +182,13 @@
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/right_interior_wing.dae</uri>
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<uri>model://cessna/meshes/right_flap.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="stabilizer">
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<link name="elevators">
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<inertial>
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<mass>2</mass>
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<inertia>
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@ -205,7 +205,7 @@
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<collision name="collision">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/stabilizer.dae</uri>
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<uri>model://cessna/meshes/elevators.dae</uri>
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</mesh>
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</geometry>
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</collision>
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@ -213,7 +213,7 @@
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://cessna/meshes/stabilizer.dae</uri>
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<uri>model://cessna/meshes/elevators.dae</uri>
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</mesh>
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</geometry>
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</visual>
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@ -421,13 +421,114 @@
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</visual>
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</link>
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<!-- Joint to move the left flap -->
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<joint name='left_flap_joint' type='revolute'>
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<parent>body</parent>
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<child>left_flap</child>
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<pose>-1.6 1.55 1.43 0.02 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to move the left aileron -->
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<joint name='left_aileron_joint' type='revolute'>
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<parent>body</parent>
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<child>left_aileron</child>
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<pose>-1.45 3.7 1.5 0.05 0 -0.12</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to move the right flap -->
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<joint name='right_flap_joint' type='revolute'>
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<parent>body</parent>
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<child>right_flap</child>
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<pose>-1.6 -1.55 1.43 -0.02 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to move the right aileron -->
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<joint name='right_aileron_joint' type='revolute'>
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<parent>body</parent>
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<child>right_aileron</child>
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<pose>-1.45 -3.7 1.5 -0.05 0 0.12</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to move the elevators -->
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<joint name='elevators_joint' type='revolute'>
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<parent>body</parent>
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<child>elevators</child>
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<pose>-5.55 0 0.57 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to move the rudder -->
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<joint name='rudder_joint' type='revolute'>
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<parent>body</parent>
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<child>rudder</child>
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<pose>-5.9 0 1.3 0 -0.35 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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<effort>-1</effort>
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<velocity>-1</velocity>
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</limit>
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</axis>
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</joint>
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<!-- Joint to make the propeller spin -->
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<joint name='propeller_joint' type='revolute'>
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<parent>body</parent>
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<child>propeller</child>
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<axis>
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<xyz>1 0 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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@ -444,7 +545,6 @@
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<pose>0.712 0 -0.313 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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@ -461,7 +561,6 @@
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<pose>-1 -1.27 -0.25 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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@ -478,7 +577,6 @@
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<pose>-1 1.27 -0.25 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<use_parent_model_frame>1</use_parent_model_frame>
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<limit>
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<lower>-1e+12</lower>
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<upper>1e+12</upper>
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