[Dragon][VIM4] refactor the system to use Khadas VIM4

jsk-ros-pkg · Jan 19, 2024 · a9e39bb · a9e39bb
1 parent 8375287
commit a9e39bb
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Showing 8 changed files with 7 additions and 21 deletions.
diff --git a/...timation/euclid_201709/FullVectoring.yaml → ...estimation/vim4_202311/FullVectoring.yaml b/...timation/euclid_201709/FullVectoring.yaml → ...estimation/vim4_202311/FullVectoring.yaml
diff --git a/..._estimation/euclid_201709/HydrusLike.yaml → ...on_estimation/vim4_202311/HydrusLike.yaml b/..._estimation/euclid_201709/HydrusLike.yaml → ...on_estimation/vim4_202311/HydrusLike.yaml
diff --git a/robots/dragon/launch/bringup.launch b/robots/dragon/launch/bringup.launch
@@ -5,7 +5,7 @@
   <arg name="simulation" default="False" />
   <arg name="full_vectoring_mode"  default= "true" />
   <arg name="type" default="quad" />
-  <arg name="onboards_model" default="euclid_201709" />
+  <arg name="onboards_model" default="vim4_202311" />
   <arg name="estimate_mode"  default= "1" />
   <arg name="sim_estimate_mode"  default= "2" />
   <arg name="headless" default="True" />

diff --git a/robots/dragon/launch/includes/euclid_201709/ground_station.launch b/robots/dragon/launch/includes/euclid_201709/ground_station.launch
diff --git a/...includes/euclid_201709/sensors.launch.xml → ...h/includes/vim4_202311/sensors.launch.xml b/...includes/euclid_201709/sensors.launch.xml → ...h/includes/vim4_202311/sensors.launch.xml
@@ -17,9 +17,7 @@
         </include>
 
         <!-- mocap -->
-        <!--
-            <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch" />
-        -->
+        <include file="$(find aerial_robot_base)/launch/external_module/mocap.launch" />
 
         <!-- joint rough calib -->
         <node pkg="spinal" type="servo_rough_calib.py" name="servo_rough_calib" output="screen">

diff --git a/...on/robots/quad/euclid_201709.gazebo.xacro → ...agon/robots/quad/vim4_202311.gazebo.xacro b/...on/robots/quad/euclid_201709.gazebo.xacro → ...agon/robots/quad/vim4_202311.gazebo.xacro
@@ -5,7 +5,7 @@
   <xacro:arg name="robot_name" default="dragon" />
 
   <!-- robot urdf -->
-  <xacro:include filename="$(find dragon)/robots/quad/euclid_201709.urdf.xacro" />
+  <xacro:include filename="$(find dragon)/robots/quad/vim4_202311.urdf.xacro" />
 
   <!-- gazebo plugin for default controller and sensors -->
   <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />

diff --git a/...agon/robots/quad/euclid_201709.urdf.xacro → ...dragon/robots/quad/vim4_202311.urdf.xacro b/...agon/robots/quad/euclid_201709.urdf.xacro → ...dragon/robots/quad/vim4_202311.urdf.xacro
diff --git a/robots/dragon/urdf/dragon_link.urdf.xacro b/robots/dragon/urdf/dragon_link.urdf.xacro
@@ -49,11 +49,11 @@
           <!-- baselink -->
           <xacro:if value="${baselink}">
             <inertial>
-              <origin xyz="${link_length* 0.5 + 9.54 * 0.001} ${-4.74 * 0.001} ${-15.68 * 0.001}" rpy="0 0 0"/>
-              <mass value="1.1348" />
+              <origin xyz="${link_length* 0.5 + 2.23 * 0.001} ${-5.59 * 0.001} ${-14.86 * 0.001}" rpy="0 0 0"/>
+              <mass value="1.055" />
               <inertia
-                  ixx="0.0018" iyy="0.0228" izz="0.0219"
-                  ixy="-0.0009" ixz="-0.0006" iyz="0.0001"/>
+                  ixx="0.0016" iyy="0.0221" izz="0.0213"
+                  ixy="-0.0009" ixz="-0.0002" iyz="-0.0001"/>
               <!--
               <origin xyz="${link_length* 0.5 + 11.92 * 0.001} ${-4.98 * 0.001} ${-14.07 * 0.001}" rpy="0 0 0"/>
               <mass value="1.07879" />