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Added Zero Turn Lawnmower model #22717

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Feb 22, 2024
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80 changes: 80 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
Original file line number Diff line number Diff line change
@@ -0,0 +1,80 @@
#!/bin/sh
# @name Gazebo lawnmower
# @type Rover
# @class Rover

. ${R}etc/init.d/rc.rover_differential_defaults

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}

param set-default SIM_GZ_EN 1 # Gazebo bridge

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1

# Set Differential Drive Kinematics Library parameters:
param set RDD_WHEEL_BASE 0.9
param set RDD_WHEEL_RADIUS 0.22
param set RDD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h

# Actuator mapping - set SITL motors/servos output parameters:

# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge:
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
#param set-default SIM_GZ_WH_MIN1 0
#param set-default SIM_GZ_WH_MAX1 200
#param set-default SIM_GZ_WH_DIS1 100
#param set-default SIM_GZ_WH_FAIL1 100

param set-default SIM_GZ_WH_FUNC2 102 # left wheel
#param set-default SIM_GZ_WH_MIN2 0
#param set-default SIM_GZ_WH_MAX2 200
#aram set-default SIM_GZ_WH_DIS2 100
#param set-default SIM_GZ_WH_FAIL2 100

param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
# controls in practical scenarios.

# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
param set-default SIM_GZ_SV_FUNC3 203
param set-default SIM_GZ_SV_MIN3 0
param set-default SIM_GZ_SV_MAX3 1000
param set-default SIM_GZ_SV_DIS3 500
param set-default SIM_GZ_SV_FAIL3 500

# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
# - on minimum when disarmed or failed:
param set-default SIM_GZ_SV_FUNC4 204
param set-default SIM_GZ_SV_MIN4 0
param set-default SIM_GZ_SV_MAX4 1000
param set-default SIM_GZ_SV_DIS4 500
param set-default SIM_GZ_SV_FAIL4 500

# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:

# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode:
#param set-default SIM_GZ_SV_FUNC5 205
#param set-default SIM_GZ_SV_MIN5 1000
#param set-default SIM_GZ_SV_MAX5 2000
#param set-default SIM_GZ_SV_DIS5 1000
#param set-default SIM_GZ_SV_FAIL5 1000

# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure:
#param set-default SIM_GZ_SV_FUNC6 206

# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207):
#param set-default SIM_GZ_SV_FUNC7 207

# Spare PCA9685 servo channel 8 - "Servo 8" (208):
#param set-default SIM_GZ_SV_FUNC8 208
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ px4_add_romfs_files(
4008_gz_advanced_plane
4009_gz_r1_rover
4010_gz_x500_mono_cam
4011_gz_lawnmower

6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
Expand Down
2 changes: 1 addition & 1 deletion Tools/simulation/gz
Submodule gz updated 1 files
+2 −2 models/r1_rover/model.sdf
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