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Pedro-Roqueahcordebperseghetti
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Added support for spacecraft thrusters (gazebosim#2431)
Adds support for Spacecraft thrusters controlled with a duty cycle signal (such as PWM). --------- Signed-off-by: Pedro Roque <padr@kth.se> Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
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‎examples/worlds/ground_spacecraft_testbed.sdf

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<?xml version="1.0" ?>
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<!--
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Spacecraft thruster plugin demo
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Send commands to a single thruster:
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gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
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-->
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<sdf version="1.6">
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<world name="ground_testbed">
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<gravity>0 0 -9.8066</gravity>
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<include>
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<pose>0 0 0 0 0 0</pose>
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<uri>https://fuel.gazebosim.org/1.0/proque/models/kth_freeflyer</uri>
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</include>
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</world>
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</sdf>

‎examples/worlds/spacecraft.sdf

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<?xml version="1.0" ?>
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<!--
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Spacecraft thruster plugin demo
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Send commands to a single thruster:
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gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
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-->
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<sdf version="1.6">
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<world name="zero_g">
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<gravity>0 0 0</gravity>
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<include>
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<pose>0 0 0 0 0 0</pose>
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<uri>https://fuel.gazebosim.org/1.0/proque/models/dart/7</uri>
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</include>
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</world>
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</sdf>

‎src/systems/CMakeLists.txt

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add_subdirectory(scene_broadcaster)
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add_subdirectory(sensors)
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add_subdirectory(shader_param)
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add_subdirectory(spacecraft_thruster_model)
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add_subdirectory(thermal)
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add_subdirectory(thruster)
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add_subdirectory(touch_plugin)

‎src/systems/spacecraft_thruster_model/CMakeLists.txt

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gz_add_system(spacecraft-thruster-model
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SOURCES
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SpacecraftThrusterModel.cc
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PUBLIC_LINK_LIBS
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gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
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)

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