added airdrag to all UAV models

ctu-mrs · Jun 21, 2024 · fa3f4a8 · fa3f4a8
1 parent c22df4c
commit fa3f4a8
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diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f330.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f330.sdf.jinja
@@ -411,6 +411,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja
@@ -532,6 +532,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja
@@ -631,6 +631,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/m690.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/m690.sdf.jinja
@@ -235,6 +235,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
@@ -285,6 +285,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja
@@ -449,6 +449,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {

diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja
@@ -575,6 +575,18 @@
 
     </link>
 
+  {# Air drag {--> #}
+  {{ generic.gazebo_fluid_resistance_plugin_macro(
+    model_mass = mass,
+    verbose = true,
+    parent_link = root,
+    uav_body_resistance_x = 0.1,
+    uav_body_resistance_y = 0.1,
+    uav_body_resistance_z = 0.2,
+    )
+  }}
+  {# <!--}--> #}
+
     {# Propellers {--> #}
     {%- set prop_list = [
     {