Gimbal: update model for Gazebo Sim - Githubissues

ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers

GNU Lesser General Public License v3.0

82 stars 78 forks source link

Gimbal: update model for Gazebo Sim #38

Closed srmainwaring closed 1 year ago

srmainwaring commented 1 year ago

Add gimbal models for the Iris and update for Gazebo Sim. Part 1 of 2.

Partially completes #37

Details

Retrieve original model from http://models.gazebosim.org/gimbal_small_2d/
Rename to reflect actual number of DOF: original has 1, upgraded has 2.
Modify material elements for Gazebo Sim.
gimbal_small_1d - copy from gimbal_small_2d and rename.
gimbal_small_2d - add arm joint.
Add stubs for joint position controller plugin.
Add the sensors system configured for ogre2 to the world file for the camera.
Add the gimbal to iris_with_ardupilot (plugin disabled).
Add a test world for the gimbals in subfolder