rosflight_sim to dynamic assignment aircraft params.

 - Now pass the aircraft as a ROS launch param by adding
   "aircraft:=anaconda". Default is skyhunter

rosflight_sim/launch/fixedwing.launch.py

@@ -7,6 +7,7 @@
 """
 
 import os
+import sys
 from pathlib import Path
 
 import xacro
@@ -73,6 +74,12 @@ def generate_launch_description():
         'ros_log_level', default_value=TextSubstitution(text='info')
     )
 
+    aircraft = 'skyhunter' # default aircraft
+
+    for arg in sys.argv:
+        if arg.startswith("aircraft:="):
+            aircraft = arg.split(":=")[1]
+
     # Start simulator
     gazebo_launch_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -86,12 +93,12 @@ def generate_launch_description():
             'gui': gui,
             'verbose': verbose,
             'world': world_file,
-            'params_file': os.path.join(get_package_share_directory('rosflight_sim'), 'params/fixedwing.yaml'),
+            'params_file': os.path.join(get_package_share_directory('rosflight_sim'), f'params/{aircraft}.yaml'),
         }.items()
     )
 
     # Render xacro file
-    xacro_filepath_string = os.path.join(get_package_share_directory('rosflight_sim'), 'xacro/fixedwing.urdf.xacro')
+    xacro_filepath_string = os.path.join(get_package_share_directory('rosflight_sim'), f'xacro/{aircraft}.urdf.xacro')
     urdf_filepath_string = os.path.join(get_package_share_directory('rosflight_sim'), 'resources/fixedwing.urdf')
     robot_description = xacro.process_file(
         xacro_filepath_string, mappings={

rosflight_sim/params/anaconda.yaml

@@ -2,11 +2,11 @@
 # Authors: Ian Reid and Phil Tokumaru
 
 # Mass and inertia parameters are defined in fixedwing.urdf.xacro.
-# Mass: 2.28
-# Jx: 0.141
-# Jy: 0.208
-# Jz: 0.293
-# Jxz: 0.04
+# Mass: 4.5
+# Jx: 0.24855
+# Jy: 0.3784
+# Jz: 0.618
+# Jxz: 0.06
 
 /fixedwing/rosflight_sil:
   ros__parameters:

rosflight_sim/params/fixedwing.yaml → rosflight_sim/params/skyhunter.yaml

@@ -36,7 +36,7 @@
     C_L_q: 8.7092
     C_L_r: 0.0
     C_L_delta_a: 0.0
-    C_L_delta_e: -0.13 # Correct sign?
+    C_L_delta_e: 0.13 # Correct sign?
     C_L_delta_r: 0.0
 
     C_D_O: 0.00445

rosflight_sim/xacro/anaconda.urdf.xacro

@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+
+<!--
+
+Gazebo Fixedwing Definition File
+Author: Gary Ellingson
+
+-->
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="fixedwing">
+  <!-- Properties -->
+  <xacro:property name="namespace" value="fixedwing"/>
+  <xacro:property name="use_mesh_file" value="true"/>
+  <xacro:property name="mesh_file" value="$(arg mesh_file_location)"/>
+  <xacro:property name="body_width" value="1.8"/>
+  <xacro:property name="body_height" value="0.1778"/>
+  <xacro:property name="body_length" value="1.27"/>
+
+  <!--Anaconda physical params-->
+  <xacro:property name="mass" value="4.5"/>
+  <xacro:property name="Jx" value="0.24855"/>
+  <xacro:property name="Jy" value="0.3784"/>
+  <xacro:property name="Jz" value="0.618"/>
+  <xacro:property name="Jxz" value="0.06"/>
+
+  <!-- Instantiate Link and Visual -->
+  <link name="${namespace}/base_link">
+    <inertial>
+      <mass value="${mass}"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="${Jx}" ixy="0.00" ixz="${Jxz}" iyy="${Jy}" iyz="0.00" izz="${Jz}"/>
+    </inertial>
+
+    <visual name="plane_visual">
+      <origin xyz="0 0 0" rpy="0 0 1.570796"/>
+      <geometry>
+        <xacro:if value="${use_mesh_file}">
+          <mesh filename="${mesh_file}" scale="1 1 1"/>
+        </xacro:if>
+        <xacro:unless value="${use_mesh_file}">
+          <box size="${body_width} ${body_height} ${body_length}"/>
+        </xacro:unless>
+      </geometry>
+    </visual>
+
+    <collision name="plane_collision">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="${body_height}" radius="${body_width}"/>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0.00</mu>
+            <mu2>0.00</mu2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </link>
+
+  <!-- ROSflight SIL -->
+  <xacro:include filename="$(find rosflight_sim)/xacro/rosflight_sil.xacro"/>
+  <xacro:generic_fixedwing namespace="${namespace}" parent_link="${namespace}/base_link"/>
+
+</robot>