fix: dart model folder + coldgas thruster

PX4 · May 27, 2024 · 797350b · 797350b
1 parent ed59d6d
commit 797350b
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/models/2d_spacecraft/2d_spacecraft.sdf b/models/2d_spacecraft/2d_spacecraft.sdf
@@ -38,7 +38,7 @@
         </surface>
       </collision>
       <visual name='body_visual'>
-        <pose>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 0 -1.57079</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>

diff --git a/models/3d_spacecraft/meshes/dart.dae → models/spacecraft_dart/meshes/dart.dae b/models/3d_spacecraft/meshes/dart.dae → models/spacecraft_dart/meshes/dart.dae
diff --git a/models/3d_spacecraft/model.config → models/spacecraft_dart/model.config b/models/3d_spacecraft/model.config → models/spacecraft_dart/model.config
@@ -2,7 +2,7 @@
 <model>
   <name>DART Spacecraft Model</name>
   <version>1.0</version>
-  <sdf version='1.6'>3d_spacecraft.sdf</sdf>
+  <sdf version='1.6'>spacecraft_dart.sdf</sdf>
 
   <author>
    <name>Pedro Roque, extracted from NASA 3D Models. All rights belong ot NASA.</name>

diff --git a/models/3d_spacecraft/3d_spacecraft.sdf → models/spacecraft_dart/spacecraft_dart.sdf b/models/3d_spacecraft/3d_spacecraft.sdf → models/spacecraft_dart/spacecraft_dart.sdf
@@ -42,7 +42,7 @@
         <geometry>
           <mesh>
             <scale>0.5 0.5 0.5</scale>
-            <uri>model://3d_spacecraft/meshes/dart.dae</uri>
+            <uri>model://spacecraft_dart/meshes/dart.dae</uri>
           </mesh>
         </geometry>
       </visual>

diff --git a/src/gazebo_coldgas_thruster_plugin.cpp b/src/gazebo_coldgas_thruster_plugin.cpp
@@ -94,7 +94,7 @@ void GazeboColdGasThrusterPlugin::OnUpdate(const common::UpdateInfo& _info) {
 
   // Calculate sampling time instant within the cycle
   sampling_time_ = _info.simTime.Double() - cycle_start_time_;
-  if (motor_number_ == 0 & DEBUG) std::cout << "PWM Period: " << 1.0/pwm_frequency_ << " Cycle Start time: " << cycle_start_time_ << " Sampling time: " << sampling_time_;
+  if (DEBUG) std::cout << motor_number_ << ": PWM Period: " << 1.0/pwm_frequency_ << " Cycle Start time: " << cycle_start_time_ << " Sampling time: " << sampling_time_ << std::endl;
   UpdateForcesAndMoments(ref_duty_cycle_ * (1.0 / pwm_frequency_), sampling_time_);
 }
 
@@ -103,15 +103,15 @@ void GazeboColdGasThrusterPlugin::VelocityCallback(CommandMotorSpeedPtr &rot_vel
     std::cout  << "You tried to access index " << motor_number_
       << " of the MotorSpeed message array which is of size " << rot_velocities->motor_speed_size() << "." << std::endl;
   } else {
-    ref_duty_cycle_ = std::min(static_cast<double>(rot_velocities->motor_speed(motor_number_)), 1.0);
-    if (motor_number_ == 0 && DEBUG) std::cout << "Processed ref duty cycle: " << ref_duty_cycle_ << " Received value: " << rot_velocities->motor_speed(motor_number_) <<  std::endl;
+    ref_duty_cycle_ = std::min(static_cast<double>((rot_velocities->motor_speed(motor_number_))), 1.0);
+    if (DEBUG) std::cout << motor_number_ << ": Processed ref duty cycle: " << ref_duty_cycle_ << " Received value: " << rot_velocities->motor_speed(motor_number_) <<  std::endl;
   } 
 }
 
 void GazeboColdGasThrusterPlugin::UpdateForcesAndMoments(const double &ref_duty_cycle_, const double &sampling_time_) {
   // Thrust is only generated uring the duty cycle
   double force = sampling_time_ <= ref_duty_cycle_ ? max_thrust_ : 0.0;
-  if (motor_number_ == 0 && DEBUG) std::cout << "Force: " << force << "  Sampling time: " << sampling_time_ << "  Ref duty cycle: " << ref_duty_cycle_ << std::endl;
+  if (DEBUG) std::cout << motor_number_ << ": Force: " << force << "  Sampling time: " << sampling_time_ << "  Ref duty cycle: " << ref_duty_cycle_ << std::endl;
   link_->AddRelativeForce(ignition::math::Vector3d(0, 0, force));
 }