Open srmainwaring opened 5 months ago
Draft: do not merge this version.
Add a model for a 4m x 6mm rope tether and provide example with tether and payload attached to an Iris.
Tether model originally sourced from https://github.com/RigidWing/sitl_gazebo and modified to correct physical properties (inertia and dynamics).
Follow the instructions for the standard Iris example in the README.
Figure: iris and tether in initial configuration
Figure: iris and tether hovering
Figure: waypoint mission
base_link
Wow, fantastic! I was thinking of adding support for reducing oscillation of slung payloads for an upcoming competition later this year.
@srmainwaring thanks!
Draft: do not merge this version.
Add a model for a 4m x 6mm rope tether and provide example with tether and payload attached to an Iris.
Tether model originally sourced from https://github.com/RigidWing/sitl_gazebo and modified to correct physical properties (inertia and dynamics).
Usage
Follow the instructions for the standard Iris example in the README.
Details
Tether
Payload
Figure: iris and tether in initial configuration
Figure: iris and tether hovering
Figure: waypoint mission![iris_tether_auto](https://github.com/ArduPilot/ardupilot_gazebo/assets/24916364/49e895bf-3c57-4fd8-ac68-0451d00cb03b)
Other changes
base_link
collision to prevent intersection with tether (no self collide, so not strictly required)