Ubuntu20.04仿真 | iris无人机添加mid360激光雷达可直接使用文件

Ubuntu20.04仿真 | iris四旋翼添加livox mid360激光雷达-CSDN博客文章中提到的相关代码可在此处直接复制使用

iris_mid_joint.sdf

<?xml version="1.0" ?>
<sdf version="1.5"><model name='iris_mid'><include><uri>model://iris_mid</uri></include><include><uri>model://Mid360</uri><pose>0 0 0.05 0 0 0</pose></include><joint name="lidar_joint" type="fixed"><child>Mid360::livox_base</child><parent>iris_mid::base_link</parent><!--parent写在飞机里（link在同文件内）不用加link名，但是用集合sdf的形式写，就要加link名声明链接关系--><axis><xyz>0 0 1</xyz><limit><upper>0</upper><lower>0</lower></limit></axis></joint></model>
</sdf>

对应的model.config

<?xml version="1.0"?>
<model><name>3DR Iris with D435i camera</name><version>1.0</version><sdf version='1.5'>iris_mid_joint.sdf</sdf><author><name>Lorenz Meier and Thomas Gubler</name><email>[e-mail]</email></author><description>This is a model of the 3DR Iris Quadrotor with a single forward facing depth camera.The original model has been created by Thomas Gubler and is maintained by Lorenz Meier.</description>
</model>

使用的launch

<?xml version="1.0"?>
<launch><!-- MAVROS posix SITL environment launch script --><!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle --><!-- vehicle pose --><arg name="x" default="0"/><arg name="y" default="0"/><arg name="z" default="0"/><arg name="R" default="0"/><arg name="P" default="0"/><arg name="Y" default="0"/><!-- vehicle model and world --><arg name="est" default="ekf2"/><arg name="vehicle" default="iris"/><arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/><arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_mid_joint/iris_mid_joint.sdf"/><!-- gazebo configs --><arg name="gui" default="true"/><arg name="debug" default="false"/><arg name="verbose" default="false"/><arg name="paused" default="false"/><arg name="respawn_gazebo" default="false"/><!-- MAVROS configs --><!--<arg name="fcu_url" default="udp://:14540@localhost:14557"/>--><arg name="fcu_url" default="udp://:24540@localhost:34580"/><arg name="respawn_mavros" default="false"/><!-- PX4 configs --><arg name="interactive" default="true"/><!-- PX4 SITL and Gazebo --><include file="$(find px4)/launch/posix_sitl.launch"><arg name="x" value="$(arg x)"/><arg name="y" value="$(arg y)"/><arg name="z" value="$(arg z)"/><arg name="R" value="$(arg R)"/><arg name="P" value="$(arg P)"/><arg name="Y" value="$(arg Y)"/><arg name="world" value="$(arg world)"/><arg name="vehicle" value="$(arg vehicle)"/><arg name="sdf" value="$(arg sdf)"/><arg name="gui" value="$(arg gui)"/><arg name="interactive" value="$(arg interactive)"/><arg name="debug" value="$(arg debug)"/><arg name="verbose" value="$(arg verbose)"/><arg name="paused" value="$(arg paused)"/><arg name="respawn_gazebo" value="$(arg respawn_gazebo)"/></include><!-- MAVROS --><include file="$(find mavros)/launch/px4.launch"><!-- GCS link is provided by SITL --><arg name="gcs_url" value=""/><arg name="fcu_url" value="$(arg fcu_url)"/><arg name="respawn_mavros" value="$(arg respawn_mavros)"/></include>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py  -->