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NASA Challenge_[@exp99generator]_[Ingenuity coaxial helicopter model] #30

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NASA Challenge_[@exp99generator]_[Ingenuity coaxial helicopter model] #30

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b6e3720
Added assets files for Ingenuity and Jezero crater, developed gazebo …
Govax99 Sep 6, 2024
3681e79
Added documentation to the cpp source files of Rotor and Atmosphere p…
Govax99 Sep 10, 2024
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51 changes: 51 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,29 @@
cmake_minimum_required(VERSION 3.8)
project(simulation)
find_package(ament_cmake REQUIRED)
find_package(ignition-plugin1 REQUIRED COMPONENTS register)
find_package(ignition-common4 REQUIRED)
find_package(ignition-gazebo6 REQUIRED)

set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
set(IGN_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})

include_directories(${CMAKE_SOURCE_DIR}/plugins/rotor/include)

add_library(RotorPlugin SHARED
plugins/rotor/src/RotorPlugin.cpp
plugins/rotor/src/BladeFlappingModel.cpp
plugins/rotor/src/BladeForceModel.cpp
plugins/rotor/src/InflowModel.cpp
plugins/rotor/src/Matrix.cpp
)

target_link_libraries(RotorPlugin
PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
PRIVATE ignition-gazebo${IGN_SIM_VER}::ignition-gazebo${IGN_SIM_VER}
)

file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)

Expand All @@ -10,6 +33,34 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME}/
)

install(TARGETS RotorPlugin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

# Include directories for AtmospherePlugin
include_directories(${CMAKE_SOURCE_DIR}/plugins/atmosphere/include)

# Add AtmospherePlugin library
add_library(AtmospherePlugin SHARED
plugins/atmosphere/src/AtmospherePlugin.cpp
plugins/atmosphere/src/AtmosphereModel.cpp
)

# Link libraries for AtmospherePlugin
target_link_libraries(AtmospherePlugin
PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
PRIVATE ignition-gazebo${IGN_SIM_VER}::ignition-gazebo${IGN_SIM_VER}
)

install(TARGETS AtmospherePlugin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")

ament_package()
194 changes: 194 additions & 0 deletions models/ingenuity/meshes/dae/10460522-1_2_B1-SOLAR PANEL SUBSTRATE_5781_FILLET5.003.dae
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Binary file added models/ingenuity/meshes/dae/CarbonFiber_albedo2.jpg
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160 changes: 160 additions & 0 deletions models/ingenuity/meshes/dae/Cube.002.dae
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Original file line number Diff line number Diff line change
@@ -0,0 +1,160 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 3.3.21 commit date:2024-07-15, commit time:08:57, hash:e016c21db151</authoring_tool>
</contributor>
<created>2024-08-31T12:14:44</created>
<modified>2024-08-31T12:14:44</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
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<effect id="carbon_fiber-effect">
<profile_COMMON>
<newparam sid="CarbonFiber_albedo2_jpg-surface">
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<init_from>CarbonFiber_albedo2_jpg</init_from>
</surface>
</newparam>
<newparam sid="CarbonFiber_albedo2_jpg-sampler">
<sampler2D>
<source>CarbonFiber_albedo2_jpg-surface</source>
</sampler2D>
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<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
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<texture texture="CarbonFiber_albedo2_jpg-sampler" texcoord="UVMap"/>
</diffuse>
<reflectivity>
<float sid="specular">0.1045454</float>
</reflectivity>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
<effect id="binoculars-effect">
<profile_COMMON>
<newparam sid="cameras_diff_jpg-surface">
<surface type="2D">
<init_from>cameras_diff_jpg</init_from>
</surface>
</newparam>
<newparam sid="cameras_diff_jpg-sampler">
<sampler2D>
<source>cameras_diff_jpg-surface</source>
</sampler2D>
</newparam>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<texture texture="cameras_diff_jpg-sampler" texcoord="UVMap"/>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images>
<image id="CarbonFiber_albedo2_jpg" name="CarbonFiber_albedo2_jpg">
<init_from>CarbonFiber_albedo2.jpg</init_from>
</image>
<image id="cameras_diff_jpg" name="cameras_diff_jpg">
<init_from>cameras_diff.jpg</init_from>
</image>
</library_images>
<library_materials>
<material id="carbon_fiber-material" name="carbon fiber">
<instance_effect url="#carbon_fiber-effect"/>
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<material id="binoculars-material" name="binoculars">
<instance_effect url="#binoculars-effect"/>
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<technique_common>
<accessor source="#Cube_002-mesh-normals-array" count="24" stride="3">
<param name="X" type="float"/>
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</technique_common>
</source>
<source id="Cube_002-mesh-map-0">
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<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
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