Fixedwing related plugins

This commit merges in fixedwing related plugins

Author: Jaeyoung-Lim

rotors_gazebo_plugins/CMakeLists.txt

@@ -301,6 +301,27 @@ if (NOT NO_ROS)
 endif()
 list(APPEND targets_to_install rotors_gazebo_fw_dynamics_plugin)
 
+add_library(rotors_gazebo_aerodynamics_plugin SHARED src/gazebo_aerodynamics_plugin.cpp)
+target_link_libraries(rotors_gazebo_aerodynamics_plugin ${target_linking_LIBRARIES}  ${YamlCpp_LIBRARIES})
+if (NOT NO_ROS)
+  add_dependencies(rotors_gazebo_aerodynamics_plugin ${catkin_EXPORTED_TARGETS})
+endif()
+list(APPEND targets_to_install rotors_gazebo_aerodynamics_plugin)
+
+add_library(rotors_gazebo_wind_beta_plugin SHARED src/gazebo_wind_beta_plugin.cpp)
+target_link_libraries(rotors_gazebo_wind_beta_plugin ${target_linking_LIBRARIES}  ${YamlCpp_LIBRARIES})
+if (NOT NO_ROS)
+  add_dependencies(rotors_gazebo_wind_beta_plugin ${catkin_EXPORTED_TARGETS})
+endif()
+list(APPEND targets_to_install rotors_gazebo_wind_beta_plugin)
+
+add_library(rotors_gazebo_propulsion_plugin SHARED src/gazebo_propulsion_plugin.cpp)
+target_link_libraries(rotors_gazebo_propulsion_plugin ${target_linking_LIBRARIES}  ${YamlCpp_LIBRARIES})
+if (NOT NO_ROS)
+  add_dependencies(rotors_gazebo_propulsion_plugin ${catkin_EXPORTED_TARGETS})
+endif()
+list(APPEND targets_to_install rotors_gazebo_propulsion_plugin)
+
 #========================================= GPS PLUGIN ===========================================//
 add_library(rotors_gazebo_gps_plugin SHARED src/gazebo_gps_plugin.cpp)
 target_link_libraries(rotors_gazebo_gps_plugin ${target_linking_LIBRARIES} )

rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_aerodynamics_plugin.h

@@ -0,0 +1,341 @@
+/*
+ * Copyright (C) 2014-2016 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *
+ * Modifications by David Rohr, [email protected]
+ *
+*/
+
+#ifndef _GAZEBO_LIFT_DRAG_PLUGIN_HH_
+#define _GAZEBO_LIFT_DRAG_PLUGIN_HH_
+
+#include <mutex>
+
+#include <string>
+#include <vector>
+
+#include "gazebo/common/Plugin.hh"
+#include "gazebo/physics/physics.hh"
+#include "gazebo/transport/TransportTypes.hh"
+#include <ignition/math.hh>
+
+#include "common.h"
+#include "uav_parameters.h"
+
+#include <math.h>
+#include <Eigen/Eigen>
+#include "gazebo/msgs/msgs.hh"
+#include <stdio.h>
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/common/common.hh>
+#include "PropulsionSlipstream.pb.h"
+#include "VisVectorArray.pb.h"
+#include "WindSpeedBeta.pb.h"
+#include "ConnectGazeboToRosTopic.pb.h"
+#include <Float32.pb.h>
+#include <iostream>
+#include <fstream>
+
+#include <algorithm>
+
+#include "gazebo/common/Assert.hh"
+#include "gazebo/sensors/SensorManager.hh"
+#include "gazebo/transport/transport.hh"
+#include <iomanip>
+
+#define AIRFOIL_N_VIS_VEC 6
+#define BODY_N_VIS_VEC 2
+
+namespace gazebo
+{
+
+typedef ignition::math::Vector3d V3D;
+typedef ignition::math::Matrix3<double> M3D;
+
+typedef const boost::shared_ptr<const gz_visualization_msgs::VisVectorArray> GzVisVectorArrayMsgPtr;
+typedef const boost::shared_ptr<const gz_mav_msgs::PropulsionSlipstream> PropulsionSlipstreamPtr;
+typedef const boost::shared_ptr<const gz_mav_msgs::WindSpeedBeta> WindPtr;
+typedef const boost::shared_ptr<const gz_std_msgs::Float32> Float32Ptr;
+static const std::string kDefaultPropulsionSlipstreamSubTopic = "/propulsion_slipstream";
+static constexpr double kDefaultRhoAir = 1.2041; // air density 1.2041 kg/m³ (dry, @20 °C, 101.325 kPa)
+
+
+class GazeboAerodynamics : public ModelPlugin
+{
+    /// \brief Constructor.
+public:
+    GazeboAerodynamics():
+        ModelPlugin(){gzdbg<<"gazebo_aerodynamics constructed"<<std::endl;}
+    ~GazeboAerodynamics();
+
+protected:
+    void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+    void OnUpdate();
+
+private:
+    std::string namespace_;
+    transport::NodePtr node_handle_;
+    physics::WorldPtr world;
+    physics::ModelPtr model;
+    physics::LinkPtr link;
+    event::ConnectionPtr updateConnection;
+
+    double rho_ = kDefaultRhoAir; // air density 1.2041 kg/m³ (dry, @20 °C, 101.325 kPa)
+
+    struct ControlSurface {
+        ControlSurface():
+            cs_ref(0.0){}
+
+        physics::JointPtr control_joint = nullptr;
+        transport::SubscriberPtr control_ref_sub = nullptr;
+        std::string cs_ref_topic;
+        bool from_topic = false;
+        std::atomic<double> cs_ref;
+        V3D control_joint_rad_to_cl = V3D(0,0,0);   // dC_L/dCS slope, [1/rad]
+        V3D control_joint_rad_to_cd = V3D(0,0,0);   // dC_D/dCS slope, [1/rad]
+        V3D control_joint_rad_to_cm = V3D(0,0,0);   // dC_M/dCS slope, [1/rad]
+        double d_aoa_b_d_delta_cs = 0;                // dAlpha_break/dCs slope [rad/rad]
+        void Callback(Float32Ptr& reference){
+            cs_ref = (double)reference->data();
+        }
+    };
+
+    struct Wind {
+        Wind(){}
+
+        transport::SubscriberPtr wind_sub_ = nullptr;
+        std::mutex wind_lock;
+        std::string wind_topic;
+
+        V3D pos_ned = V3D(0,0,0);
+        V3D wind_ned = V3D(0,0,0);
+        M3D wind_grad_ned = M3D(0,0,0,0,0,0,0,0,0);
+
+        void Callback(WindPtr& wind){
+            std::unique_lock<std::mutex> lock(wind_lock);
+
+            pos_ned = V3D(wind->pos_ned().x(),
+                          wind->pos_ned().y(),
+                          wind->pos_ned().z());
+
+            wind_ned = V3D(wind->wind_ned().x(),
+                           wind->wind_ned().y(),
+                           wind->wind_ned().z());
+
+            wind_grad_ned = M3D(wind->wind_grad_ned().xx(),
+                                wind->wind_grad_ned().xy(),
+                                wind->wind_grad_ned().xz(),
+                                wind->wind_grad_ned().yx(),
+                                wind->wind_grad_ned().yy(),
+                                wind->wind_grad_ned().yz(),
+                                wind->wind_grad_ned().zx(),
+                                wind->wind_grad_ned().zy(),
+                                wind->wind_grad_ned().zz());
+            lock.unlock();
+        }
+
+        V3D GetWind(V3D p_cp){
+            std::unique_lock<std::mutex> lock(wind_lock);   //necessary? atomic V3D?
+            V3D wind_local = wind_ned + wind_grad_ned*(p_cp-pos_ned);
+            //V3D wind_local = wind_grad_ned*(p_cp-pos_ned);
+            lock.unlock();
+            return wind_local;
+        }
+    };
+
+    struct Slipstream {
+        Slipstream(){}
+
+        transport::SubscriberPtr propulsion_slipstream_sub_ = nullptr;
+        std::mutex slipstream_lock;
+        std::string slpstr_topic;
+
+        V3D p_rot = V3D(0,0,0);
+        V3D d_wake = V3D(0,0,0);
+        V3D d_wake_e = V3D(0,0,0);
+        V3D v_ind_d = V3D(0,0,0);
+        V3D v_ind_e = V3D(0,0,0);
+
+        double r_rot = 0;
+
+        void Callback(PropulsionSlipstreamPtr& propulsion_slipstream){
+            std::unique_lock<std::mutex> lock(slipstream_lock);
+            // position of rotordisk center wrt world, expressed in world frame [m]
+            p_rot = V3D(propulsion_slipstream->rotor_pos().x(),
+                        propulsion_slipstream->rotor_pos().y(),
+                        propulsion_slipstream->rotor_pos().z());
+
+            // wake direction expressed in world frame [-]
+            d_wake = V3D(propulsion_slipstream->wake_dir().x(),
+                         propulsion_slipstream->wake_dir().y(),
+                         propulsion_slipstream->wake_dir().z());
+            d_wake_e = d_wake.Normalized();
+
+            // induced velocity at rotordisk, expressed in world frame [m/s]
+            v_ind_d = V3D(propulsion_slipstream->ind_vel_disk().x(),
+                          propulsion_slipstream->ind_vel_disk().y(),
+                          propulsion_slipstream->ind_vel_disk().z());
+
+            // induced velocity at end of wake (Note: not necessarily 0!)
+            v_ind_e = V3D(propulsion_slipstream->ind_vel_end().x(),
+                          propulsion_slipstream->ind_vel_end().y(),
+                          propulsion_slipstream->ind_vel_end().z());
+
+            // propeller/wake diameter
+            r_rot = propulsion_slipstream->prop_diam()/2;
+            lock.unlock();
+        }
+
+        V3D GetIndVel(V3D p_cp){
+
+            V3D v_ind; // induced velocity at cp (e.g. due to slipstream)
+            std::unique_lock<std::mutex> lock(slipstream_lock);
+            V3D p_r2cp_ = p_cp - p_rot;
+            double off_a_ = d_wake_e.Dot(p_r2cp_);                 // axial distance in wake (d1 in report)
+            double off_p_ = (off_a_*d_wake_e-p_r2cp_).Length();    // radial distance to wake centerline (d2 in report)
+
+
+            if(off_a_>0 && d_wake.Length()>off_a_){
+                // if in zone of slipstream influence
+                double k_a_ = (d_wake.Length()-off_a_)/d_wake.Length();    // axial direction interpolation weight
+                double r_rot_exp = (2-1*k_a_)*r_rot;
+                double k_p_ = 1-pow((off_p_/r_rot_exp),4);
+                k_p_ = ignition::math::clamp(k_p_,0.0,1.0);                // radial distance downscaling
+                v_ind = k_p_*(k_a_*v_ind_d+(1-k_a_)*v_ind_e);   // induced velocity at airfoil segment cp
+            }
+
+            lock.unlock();
+            return v_ind;
+        }
+    };
+
+    struct Segment {
+        Segment(){}
+
+        physics::LinkPtr ref_link = nullptr;  // reference link for force/torque calculation
+        physics::LinkPtr act_link = nullptr;  // link to apply force/torque to
+
+        // To include hyteresis in future implementation, currently not used
+        double alpha_prev = 0;
+        double alpha_dot = 0;
+        bool cl_hist_up = true;
+
+        AerodynamicParameters aero_params;
+
+        V3D cp = V3D(0,0,0);    // Center of pressure wrt link frame, expressed in link frame
+        V3D fwd = V3D(1,0,0);
+        V3D upwd = V3D(0,0,1);
+        double seg_area;
+
+        double seg_chord;
+        double ellp_mult;
+
+        ControlSurface * cs;
+        int n_cs = 0;
+
+        /// \brief Quantities to model propeller/rotor wake/slipstream
+
+        Slipstream * slpstr;
+        V3D v_ind_cp; // induced velocity at cp (e.g. due to slipstream)
+        int n_slpstr = 0;
+
+        Wind * wind;
+        V3D wind_cp;
+        int n_wind = 0;
+
+        /// \brief For visualization in rviz
+        std::string vector_vis_array_topic;
+        gazebo::transport::PublisherPtr vector_vis_array_pub;
+        gz_visualization_msgs::VisVectorArray vector_vis_array_msg;
+        std::array<gz_visualization_msgs::ArrowMarker*, AIRFOIL_N_VIS_VEC> vec_vis;
+
+        void UpdateIndVel(V3D w_cp) {
+            v_ind_cp = V3D(0,0,0);
+            for(int j=0; j<n_slpstr; j++){
+                v_ind_cp += slpstr[j].GetIndVel(w_cp);
+            }
+        }
+
+        void UpdateWind(V3D w_cp) {
+            wind_cp = V3D(0,0,0);
+            for(int j=0; j<n_wind; j++){
+                wind_cp += wind[j].GetWind(w_cp);
+            }
+        }
+
+    };
+
+    Segment * segments_;
+    int n_seg_ = 0;
+
+    struct Body {
+
+        Body():
+            a_fus_xx(0),
+            a_fus_yy(0),
+            a_fus_zz(0),
+            cd_cyl_ax(0.82),
+            cd_cyl_lat(1.17),
+            cp(0,0,0),
+            fwd(1,0,0),
+            upwd(0,0,1){}
+
+        physics::LinkPtr ref_link = nullptr;  // reference link for force/torque calculation
+        physics::LinkPtr act_link = nullptr;  // link to apply force/torque to
+
+        double a_fus_xx;                      // forward-projected area of fuselage, [m^2]
+        double a_fus_yy;                      // side-projected area of fuselage, [m^2]
+        double a_fus_zz;                      // down-projected area of fuselage, [m^2]
+        double cd_cyl_ax;                     // drag coefficient of long cylinder in axial flow, [-]
+        double cd_cyl_lat;                    // drag coefficient of cylinder in lateral flow, [-]
+
+        V3D cp;
+        V3D fwd;
+        V3D upwd;
+
+        Wind * wind;
+        V3D wind_cp;
+        int n_wind = 0;
+
+        /// \brief For visualization in rviz
+        std::string vector_vis_array_topic;
+        gazebo::transport::PublisherPtr vector_vis_array_pub;
+        gz_visualization_msgs::VisVectorArray vector_vis_array_msg;
+        std::array<gz_visualization_msgs::ArrowMarker*, BODY_N_VIS_VEC> vec_vis;
+
+        void UpdateWind(V3D w_cp) {
+            wind_cp = V3D(0,0,0);
+            for(int j=0; j<n_wind; j++){
+                wind_cp += wind[j].GetWind(w_cp);
+            }
+        }
+    };
+
+    Body * bodies_;
+    int n_bdy_ = 0;
+
+    std::string vector_vis_array_topic_;
+    gz_visualization_msgs::VisVectorArray vector_vis_array_;
+    gazebo::transport::PublisherPtr vector_vis_array_pub_;
+
+    common::Time last_time_;
+
+    bool pubs_and_subs_created_ = false;
+
+};
+
+}
+#endif