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ZD550搭载Mid360激光雷达Gazebo仿真平台搭建记录_gazebo mid360

作者：小蓝xlanll | 2024-05-02 09:46:16

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gazebo mid360

1. 首先对ZD550SoliWorks文件转出stl格式文件，进行Blender软件导入，完成1000:1比例的缩小。

这里注意，对无人机的位置进行调整，让其中心在质心位置的同时，让质心在坐标轴原点0.2m高度处，保证后续对其碰撞区域设置方便。

2.通过Blender软件将上述文件导出为dae文件，进一步参考PX4官方仿真平台的iris模型，对本ZD550平台进行sdf文件编写：https://github.com/PX4/PX4-Autopilot.git

3.具体仿真出来的模型如图。

sdf文件如下：

  1. <sdf version='1.6'>
  2.   <model name='Z550'>
  3.     <link name='base_link'>
  4.       <pose frame=''>0 0 0 0 -0 0</pose>
  5.       <inertial>
  6.         <pose frame=''>0 0 0 0 -0 0</pose>
  7.         <mass>1.5</mass>
  8.         <inertia>
  9.           <ixx>0.029125</ixx>
  10.           <ixy>0</ixy>
  11.           <ixz>0</ixz>
  12.           <iyy>0.029125</iyy>
  13.           <iyz>0</iyz>
  14.           <izz>0.055225</izz>
  15.         </inertia>
  16.       </inertial>
  17.       <collision name='base_link_inertia_collision_4'>
  18.         <pose frame=''>0 0 0 0 -0 0</pose>
  19.         <geometry>
  20.           <box>
  21.             <size>0.47 0.47 0.005</size>
  22.           </box>
  23.         </geometry>
  24.         <surface>
  25.           <contact>
  26.             <ode>
  27.               <min_depth>0.001</min_depth>
  28.               <max_vel>0</max_vel>
  29.             </ode>
  30.           </contact>
  31.           <friction>
  32.             <ode/>
  33.           </friction>
  34.         </surface>
  35.       </collision>
  36.       <visual name='base_link_inertia_visual_4'>
  37.         <pose frame=''>0 0 0 0 -0 0</pose>
  38.         <geometry>
  39.           <mesh>
  40.             <scale>1 1 1</scale>
  41.             <uri>model://Z550/meshes/ZD550_motors_amend.dae</uri>
  42.           </mesh>
  43.         </geometry>
  44.         <material>
  45.           <script>
  46.             <name>Gazebo/DarkGrey</name>
  47.             <uri>file://media/materials/scripts/gazebo.material</uri>
  48.           </script>
  49.         </material>
  50.       </visual>
  51.       <gravity>1</gravity>
  52.       <velocity_decay/>
  53.     </link>
  54.     <link name='/imu_link'>
  55.       <pose frame=''>0 0 0 0 -0 0</pose>
  56.       <inertial>
  57.         <pose frame=''>0 0 0 0 -0 0</pose>
  58.         <mass>0.015</mass>
  59.         <inertia>
  60.           <ixx>1e-05</ixx>
  61.           <ixy>0</ixy>
  62.           <ixz>0</ixz>
  63.           <iyy>1e-05</iyy>
  64.           <iyz>0</iyz>
  65.           <izz>1e-05</izz>
  66.         </inertia>
  67.       </inertial>
  68.     </link>
  69.     <joint name='/imu_joint' type='revolute'>
  70.       <child>/imu_link</child>
  71.       <parent>base_link</parent>
  72.       <axis>
  73.         <xyz>1 0 0</xyz>
  74.         <limit>
  75.           <lower>0</lower>
  76.           <upper>0</upper>
  77.           <effort>0</effort>
  78.           <velocity>0</velocity>
  79.         </limit>
  80.         <dynamics>
  81.           <spring_reference>0</spring_reference>
  82.           <spring_stiffness>0</spring_stiffness>
  83.         </dynamics>
  84.         <use_parent_model_frame>0</use_parent_model_frame>
  85.       </axis>
  86.     </joint>
  87.     <link name='rotor_0'>
  88.       <pose frame=''>0.2 -0.2 0.34 0 -0 0</pose>
  89.       <inertial>
  90.         <pose frame=''>0 0 0 0 -0 0</pose>
  91.         <mass>0.005</mass>
  92.         <inertia>
  93.           <ixx>9.75e-07</ixx>
  94.           <ixy>0</ixy>
  95.           <ixz>0</ixz>
  96.           <iyy>0.000273104</iyy>
  97.           <iyz>0</iyz>
  98.           <izz>0.000274004</izz>
  99.         </inertia>
  100.       </inertial>
  101.       <collision name='rotor_0_collision'>
  102.         <pose frame=''>0 0 0 0 -0 0</pose>
  103.         <geometry>
  104.           <cylinder>
  105.             <length>0.005</length>
  106.             <radius>0.128</radius>
  107.           </cylinder>
  108.         </geometry>
  109.         <surface>
  110.           <contact>
  111.             <ode/>
  112.           </contact>
  113.           <friction>
  114.             <ode/>
  115.           </friction>
  116.         </surface>
  117.       </collision>
  118.       <visual name='rotor_0_visual'>
  119.         <pose frame=''>0 0 0 0 -0 0</pose>
  120.         <geometry>
  121.           <mesh>
  122.             <scale>1 1 1</scale>
  123.             <uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
  124.           </mesh>
  125.         </geometry>
  126.         <material>
  127.           <script>
  128.             <name>Gazebo/Blue</name>
  129.             <uri>file://media/materials/scripts/gazebo.material</uri>
  130.           </script>
  131.         </material>
  132.       </visual>
  133.       <gravity>1</gravity>
  134.       <velocity_decay/>
  135.     </link>
  136.     <joint name='rotor_0_joint' type='revolute'>
  137.       <child>rotor_0</child>
  138.       <parent>base_link</parent>
  139.       <axis>
  140.         <xyz>0 0 1</xyz>
  141.         <limit>
  142.           <lower>-1e+16</lower>
  143.           <upper>1e+16</upper>
  144.         </limit>
  145.         <dynamics>
  146.           <spring_reference>0</spring_reference>
  147.           <spring_stiffness>0</spring_stiffness>
  148.         </dynamics>
  149.         <use_parent_model_frame>0</use_parent_model_frame>
  150.       </axis>
  151.     </joint>
  152.     <link name='rotor_1'>
  153.       <pose frame=''>-0.2 0.2 0.34 0 -0 0</pose>
  154.       <inertial>
  155.         <pose frame=''>0 0 0 0 -0 0</pose>
  156.         <mass>0.005</mass>
  157.         <inertia>
  158.           <ixx>9.75e-07</ixx>
  159.           <ixy>0</ixy>
  160.           <ixz>0</ixz>
  161.           <iyy>0.000273104</iyy>
  162.           <iyz>0</iyz>
  163.           <izz>0.000274004</izz>
  164.         </inertia>
  165.       </inertial>
  166.       <collision name='rotor_1_collision'>
  167.         <pose frame=''>0 0 0 0 -0 0</pose>
  168.         <geometry>
  169.           <cylinder>
  170.             <length>0.005</length>
  171.             <radius>0.128</radius>
  172.           </cylinder>
  173.         </geometry>
  174.         <surface>
  175.           <contact>
  176.             <ode/>
  177.           </contact>
  178.           <friction>
  179.             <ode/>
  180.           </friction>
  181.         </surface>
  182.       </collision>
  183.       <visual name='rotor_1_visual'>
  184.         <pose frame=''>0 0 0 0 -0 0</pose>
  185.         <geometry>
  186.           <mesh>
  187.             <scale>1 1 1</scale>
  188.             <uri>model://rotors_description/meshes/iris_prop_ccw.dae</uri>
  189.           </mesh>
  190.         </geometry>
  191.         <material>
  192.           <script>
  193.             <name>Gazebo/DarkGrey</name>
  194.             <uri>file://media/materials/scripts/gazebo.material</uri>
  195.           </script>
  196.         </material>
  197.       </visual>
  198.       <gravity>1</gravity>
  199.       <velocity_decay/>
  200.     </link>
  201.     <joint name='rotor_1_joint' type='revolute'>
  202.       <child>rotor_1</child>
  203.       <parent>base_link</parent>
  204.       <axis>
  205.         <xyz>0 0 1</xyz>
  206.         <limit>
  207.           <lower>-1e+16</lower>
  208.           <upper>1e+16</upper>
  209.         </limit>
  210.         <dynamics>
  211.           <spring_reference>0</spring_reference>
  212.           <spring_stiffness>0</spring_stiffness>
  213.         </dynamics>
  214.         <use_parent_model_frame>0</use_parent_model_frame>
  215.       </axis>
  216.     </joint>
  217.     <link name='rotor_2'>
  218.       <pose frame=''>0.2 0.2 0.34 0 -0 0</pose>
  219.       <inertial>
  220.         <pose frame=''>0 0 0 0 -0 0</pose>
  221.         <mass>0.005</mass>
  222.         <inertia>
  223.           <ixx>9.75e-07</ixx>
  224.           <ixy>0</ixy>
  225.           <ixz>0</ixz>
  226.           <iyy>0.000273104</iyy>
  227.           <iyz>0</iyz>
  228.           <izz>0.000274004</izz>
  229.         </inertia>
  230.       </inertial>
  231.       <collision name='rotor_2_collision'>
  232.         <pose frame=''>0 0 0 0 -0 0</pose>
  233.         <geometry>
  234.           <cylinder>
  235.             <length>0.005</length>
  236.             <radius>0.128</radius>
  237.           </cylinder>
  238.         </geometry>
  239.         <surface>
  240.           <contact>
  241.             <ode/>
  242.           </contact>
  243.           <friction>
  244.             <ode/>
  245.           </friction>
  246.         </surface>
  247.       </collision>
  248.       <visual name='rotor_2_visual'>
  249.         <pose frame=''>0 0 0 0 -0 0</pose>
  250.         <geometry>
  251.           <mesh>
  252.             <scale>1 1 1</scale>
  253.             <uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
  254.           </mesh>
  255.         </geometry>
  256.         <material>
  257.           <script>
  258.             <name>Gazebo/Blue</name>
  259.             <uri>file://media/materials/scripts/gazebo.material</uri>
  260.           </script>
  261.         </material>
  262.       </visual>
  263.       <gravity>1</gravity>
  264.       <velocity_decay/>
  265.     </link>
  266.     <joint name='rotor_2_joint' type='revolute'>
  267.       <child>rotor_2</child>
  268.       <parent>base_link</parent>
  269.       <axis>
  270.         <xyz>0 0 1</xyz>
  271.         <limit>
  272.           <lower>-1e+16</lower>
  273.           <upper>1e+16</upper>
  274.         </limit>
  275.         <dynamics>
  276.           <spring_reference>0</spring_reference>
  277.           <spring_stiffness>0</spring_stiffness>
  278.         </dynamics>
  279.         <use_parent_model_frame>0</use_parent_model_frame>
  280.       </axis>
  281.     </joint>
  282.     <link name='rotor_3'>
  283.       <pose frame=''>-0.2 -0.2 0.34 0 -0 0</pose>
  284.       <inertial>
  285.         <pose frame=''>0 0 0 0 -0 0</pose>
  286.         <mass>0.005</mass>
  287.         <inertia>
  288.           <ixx>9.75e-07</ixx>
  289.           <ixy>0</ixy>
  290.           <ixz>0</ixz>
  291.           <iyy>0.000273104</iyy>
  292.           <iyz>0</iyz>
  293.           <izz>0.000274004</izz>
  294.         </inertia>
  295.       </inertial>
  296.       <collision name='rotor_3_collision'>
  297.         <pose frame=''>0 0 0 0 -0 0</pose>
  298.         <geometry>
  299.           <cylinder>
  300.             <length>0.005</length>
  301.             <radius>0.128</radius>
  302.           </cylinder>
  303.         </geometry>
  304.         <surface>
  305.           <contact>
  306.             <ode/>
  307.           </contact>
  308.           <friction>
  309.             <ode/>
  310.           </friction>
  311.         </surface>
  312.       </collision>
  313.       <visual name='rotor_3_visual'>
  314.         <pose frame=''>0 0 0 0 -0 0</pose>
  315.         <geometry>
  316.           <mesh>
  317.             <scale>1 1 1</scale>
  318.             <uri>model://rotors_description/meshes/iris_prop_cw.dae</uri>
  319.           </mesh>
  320.         </geometry>
  321.         <material>
  322.           <script>
  323.             <name>Gazebo/DarkGrey</name>
  324.             <uri>file://media/materials/scripts/gazebo.material</uri>
  325.           </script>
  326.         </material>
  327.       </visual>
  328.       <gravity>1</gravity>
  329.       <velocity_decay/>
  330.     </link>
  331.     <joint name='rotor_3_joint' type='revolute'>
  332.       <child>rotor_3</child>
  333.       <parent>base_link</parent>
  334.       <axis>
  335.         <xyz>0 0 1</xyz>
  336.         <limit>
  337.           <lower>-1e+16</lower>
  338.           <upper>1e+16</upper>
  339.         </limit>
  340.         <dynamics>
  341.           <spring_reference>0</spring_reference>
  342.           <spring_stiffness>0</spring_stiffness>
  343.         </dynamics>
  344.         <use_parent_model_frame>0</use_parent_model_frame>
  345.       </axis>
  346.     </joint>
  347.     <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
  348.       <robotNamespace/>
  349.       <linkName>base_link</linkName>
  350.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  351.     </plugin>
  352.     <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
  353.       <robotNamespace/>
  354.       <jointName>rotor_0_joint</jointName>
  355.       <linkName>rotor_0</linkName>
  356.       <turningDirection>ccw</turningDirection>
  357.       <timeConstantUp>0.0125</timeConstantUp>
  358.       <timeConstantDown>0.025</timeConstantDown>
  359.       <maxRotVelocity>1100</maxRotVelocity>
  360.       <motorConstant>8.54858e-06</motorConstant>
  361.       <momentConstant>0.06</momentConstant>
  362.       <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
  363.       <motorNumber>0</motorNumber>
  364.       <rotorDragCoefficient>0.000175</rotorDragCoefficient>
  365.       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
  366.       <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
  367.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  368.     </plugin>
  369.     <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
  370.       <robotNamespace/>
  371.       <jointName>rotor_1_joint</jointName>
  372.       <linkName>rotor_1</linkName>
  373.       <turningDirection>ccw</turningDirection>
  374.       <timeConstantUp>0.0125</timeConstantUp>
  375.       <timeConstantDown>0.025</timeConstantDown>
  376.       <maxRotVelocity>1100</maxRotVelocity>
  377.       <motorConstant>8.54858e-06</motorConstant>
  378.       <momentConstant>0.06</momentConstant>
  379.       <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
  380.       <motorNumber>1</motorNumber>
  381.       <rotorDragCoefficient>0.000175</rotorDragCoefficient>
  382.       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
  383.       <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
  384.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  385.     </plugin>
  386.     <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
  387.       <robotNamespace/>
  388.       <jointName>rotor_2_joint</jointName>
  389.       <linkName>rotor_2</linkName>
  390.       <turningDirection>cw</turningDirection>
  391.       <timeConstantUp>0.0125</timeConstantUp>
  392.       <timeConstantDown>0.025</timeConstantDown>
  393.       <maxRotVelocity>1100</maxRotVelocity>
  394.       <motorConstant>8.54858e-06</motorConstant>
  395.       <momentConstant>0.06</momentConstant>
  396.       <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
  397.       <motorNumber>2</motorNumber>
  398.       <rotorDragCoefficient>0.000175</rotorDragCoefficient>
  399.       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
  400.       <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
  401.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  402.     </plugin>
  403.     <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
  404.       <robotNamespace/>
  405.       <jointName>rotor_3_joint</jointName>
  406.       <linkName>rotor_3</linkName>
  407.       <turningDirection>cw</turningDirection>
  408.       <timeConstantUp>0.0125</timeConstantUp>
  409.       <timeConstantDown>0.025</timeConstantDown>
  410.       <maxRotVelocity>1100</maxRotVelocity>
  411.       <motorConstant>8.54858e-06</motorConstant>
  412.       <momentConstant>0.06</momentConstant>
  413.       <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
  414.       <motorNumber>3</motorNumber>
  415.       <rotorDragCoefficient>0.000175</rotorDragCoefficient>
  416.       <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
  417.       <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
  418.       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
  419.     </plugin>
  420.     <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
  421.       <robotNamespace/>
  422.       <gpsNoise>1</gpsNoise>
  423.     </plugin>
  424.     <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
  425.       <robotNamespace/>
  426.       <pubRate>100</pubRate>
  427.       <noiseDensity>0.0004</noiseDensity>
  428.       <randomWalk>6.4e-06</randomWalk>
  429.       <biasCorrelationTime>600</biasCorrelationTime>
  430.       <magTopic>/mag</magTopic>
  431.     </plugin>
  432.     <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
  433.       <robotNamespace/>
  434.       <pubRate>50</pubRate>
  435.       <baroTopic>/baro</baroTopic>
  436.     </plugin>
  437.     <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
  438.       <robotNamespace/>
  439.       <imuSubTopic>/imu</imuSubTopic>
  440.       <gpsSubTopic>/gps</gpsSubTopic>
  441.       <magSubTopic>/mag</magSubTopic>
  442.       <baroSubTopic>/baro</baroSubTopic>
  443.       <mavlink_addr>INADDR_ANY</mavlink_addr>
  444.       <mavlink_udp_port>14560</mavlink_udp_port>
  445.       <mavlink_tcp_port>4560</mavlink_tcp_port>
  446.       <serialEnabled>0</serialEnabled>
  447.       <serialDevice>/dev/ttyACM0</serialDevice>
  448.       <baudRate>921600</baudRate>
  449.       <qgc_addr>INADDR_ANY</qgc_addr>
  450.       <qgc_udp_port>14550</qgc_udp_port>
  451.       <sdk_addr>INADDR_ANY</sdk_addr>
  452.       <sdk_udp_port>14540</sdk_udp_port>
  453.       <hil_mode>0</hil_mode>
  454.       <hil_state_level>0</hil_state_level>
  455.       <vehicle_is_tailsitter>0</vehicle_is_tailsitter>
  456.       <send_vision_estimation>1</send_vision_estimation>
  457.       <send_odometry>0</send_odometry>
  458.       <enable_lockstep>1</enable_lockstep>
  459.       <use_tcp>1</use_tcp>
  460.       <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
  461.       <control_channels>
  462.         <channel name='rotor1'>
  463.           <input_index>0</input_index>
  464.           <input_offset>0</input_offset>
  465.           <input_scaling>1000</input_scaling>
  466.           <zero_position_disarmed>0</zero_position_disarmed>
  467.           <zero_position_armed>100</zero_position_armed>
  468.           <joint_control_type>velocity</joint_control_type>
  469.         </channel>
  470.         <channel name='rotor2'>
  471.           <input_index>1</input_index>
  472.           <input_offset>0</input_offset>
  473.           <input_scaling>1000</input_scaling>
  474.           <zero_position_disarmed>0</zero_position_disarmed>
  475.           <zero_position_armed>100</zero_position_armed>
  476.           <joint_control_type>velocity</joint_control_type>
  477.         </channel>
  478.         <channel name='rotor3'>
  479.           <input_index>2</input_index>
  480.           <input_offset>0</input_offset>
  481.           <input_scaling>1000</input_scaling>
  482.           <zero_position_disarmed>0</zero_position_disarmed>
  483.           <zero_position_armed>100</zero_position_armed>
  484.           <joint_control_type>velocity</joint_control_type>
  485.         </channel>
  486.         <channel name='rotor4'>
  487.           <input_index>3</input_index>
  488.           <input_offset>0</input_offset>
  489.           <input_scaling>1000</input_scaling>
  490.           <zero_position_disarmed>0</zero_position_disarmed>
  491.           <zero_position_armed>100</zero_position_armed>
  492.           <joint_control_type>velocity</joint_control_type>
  493.         </channel>
  494.         <channel name='rotor5'>
  495.           <input_index>4</input_index>
  496.           <input_offset>1</input_offset>
  497.           <input_scaling>324.6</input_scaling>
  498.           <zero_position_disarmed>0</zero_position_disarmed>
  499.           <zero_position_armed>0</zero_position_armed>
  500.           <joint_control_type>velocity</joint_control_type>
  501.           <joint_control_pid>
  502.             <p>0.1</p>
  503.             <i>0</i>
  504.             <d>0</d>
  505.             <iMax>0.0</iMax>
  506.             <iMin>0.0</iMin>
  507.             <cmdMax>2</cmdMax>
  508.             <cmdMin>-2</cmdMin>
  509.           </joint_control_pid>
  510.           <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
  511.         </channel>
  512.         <channel name='rotor6'>
  513.           <input_index>5</input_index>
  514.           <input_offset>0</input_offset>
  515.           <input_scaling>0.524</input_scaling>
  516.           <zero_position_disarmed>0</zero_position_disarmed>
  517.           <zero_position_armed>0</zero_position_armed>
  518.           <joint_control_type>position</joint_control_type>
  519.           <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
  520.           <joint_control_pid>
  521.             <p>10.0</p>
  522.             <i>0</i>
  523.             <d>0</d>
  524.             <iMax>0</iMax>
  525.             <iMin>0</iMin>
  526.             <cmdMax>20</cmdMax>
  527.             <cmdMin>-20</cmdMin>
  528.           </joint_control_pid>
  529.         </channel>
  530.         <channel name='rotor7'>
  531.           <input_index>6</input_index>
  532.           <input_offset>0</input_offset>
  533.           <input_scaling>0.524</input_scaling>
  534.           <zero_position_disarmed>0</zero_position_disarmed>
  535.           <zero_position_armed>0</zero_position_armed>
  536.           <joint_control_type>position</joint_control_type>
  537.           <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
  538.           <joint_control_pid>
  539.             <p>10.0</p>
  540.             <i>0</i>
  541.             <d>0</d>
  542.             <iMax>0</iMax>
  543.             <iMin>0</iMin>
  544.             <cmdMax>20</cmdMax>
  545.             <cmdMin>-20</cmdMin>
  546.           </joint_control_pid>
  547.         </channel>
  548.         <channel name='rotor8'>
  549.           <input_index>7</input_index>
  550.           <input_offset>0</input_offset>
  551.           <input_scaling>0.524</input_scaling>
  552.           <zero_position_disarmed>0</zero_position_disarmed>
  553.           <zero_position_armed>0</zero_position_armed>
  554.           <joint_control_type>position</joint_control_type>
  555.         </channel>
  556.       </control_channels>
  557.     </plugin>
  558.     <static>0</static>
  559.     <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
  560.       <robotNamespace/>
  561.       <linkName>/imu_link</linkName>
  562.       <imuTopic>/imu</imuTopic>
  563.       <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
  564.       <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
  565.       <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
  566.       <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
  567.       <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
  568.       <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
  569.       <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
  570.       <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
  571.     </plugin>
  572.   </model>
  573. </sdf>

完成这一过程中间，本来是设计了一套桨叶的，但使用该桨叶仿真时，需要对系统的PID参数重新调整，否则起飞过程飘忽不定。 

4. 通过到Mid360官网（Downloads - Mid-360 激光雷达 - Livox）下载模型文件，按照上述步骤导出dae文件，注意Mid360的坐标系。

5. 根据肖昆大佬的xtdrone文档进行Mid360的插件布置，三维固态激光SLAM(livox) · 语雀

 主要的参考还包括：GitHub - Luchuanzhao/Livox_simulation_customMsg: Livox simulation for Ubuntu18 and Gazebo 9, and can import 3 Ros messages: PointCloud, PointCloud2 and CustomMsg, they can be used in A-LOAM, Fast-LIO and so on.

配置好的Mid360sdf文件为：

  1. <sdf version='1.6'>
  2.   <model name='Mid360'>
  3.     <link name='livox_base'>
  4.       <pose frame=''>0 0 0 0 -0 0</pose>
  5.       <inertial>
  6.         <pose frame=''>0 0 0 0 -0 0</pose>
  7.         <mass>0.2</mass>
  8.         <inertia>
  9.           <ixx>0.02</ixx>
  10.           <ixy>0</ixy>
  11.           <ixz>0</ixz>
  12.           <iyy>0.02</iyy>
  13.           <iyz>0</iyz>
  14.           <izz>0.02</izz>
  15.         </inertia>
  16.       </inertial>
  17.       <collision name='livox_base_collision'>
  18.         <pose frame=''>0 0 0 0 -0 0</pose>
  19.         <geometry>
  20.           <mesh>
  21.             <scale>1 1 1</scale>
  22.             <uri>model://livox_mid40/meshes/livox_mid40.dae</uri>
  23.           </mesh>
  24.         </geometry>
  25.       </collision>
  26.       <visual name='livox_base_visual'>
  27.         <pose frame=''>0 0 0 0 -0 0</pose>
  28.         <geometry>
  29.           <mesh>
  30.             <scale>1 1 1</scale>
  31.             <uri>model://livox_mid40/meshes/mid360_rules.dae</uri>
  32.           </mesh>
  33.         </geometry>
  34.       </visual>
  35.       <gravity>1</gravity>
  36.       <velocity_decay/>
  37.       <sensor name='laser_livox' type='ray'>
  38.         <visualize>1</visualize>
  39.         <update_rate>10</update_rate>
  40.         <always_on>1</always_on>
  41.         <plugin name='gazebo_ros_laser_controller' filename='liblivox_laser_simulation.so'>
  42.           <ray>
  43.             <scan>
  44.               <horizontal>
  45.                 <samples>100</samples>
  46.                 <resolution>1</resolution>
  47.                 <min_angle>-0.614355377778</min_angle>
  48.                 <max_angle>0.614355377778</max_angle>
  49.               </horizontal>
  50.               <vertical>
  51.                 <samples>50</samples>
  52.                 <resolution>1</resolution>
  53.                 <min_angle>-0.673696522222</min_angle>
  54.                 <max_angle>0.673696522222</max_angle>
  55.               </vertical>
  56.             </scan>
  57.             <range>
  58.               <min>0.1</min>
  59.               <max>200.0</max>
  60.               <resolution>0.002</resolution>
  61.             </range>
  62.             <noise>
  63.               <type>gaussian</type>
  64.               <mean>0.0</mean>
  65.               <stddev>0.01</stddev>
  66.             </noise>
  67.           </ray>
  68.           <visualize>1</visualize>
  69.           <samples>10000</samples>
  70.           <downsample>1</downsample>
  71.           <csv_file_name>/home/ywb/PX4_Files/PX4_Firmware/Tools/sitl_gazebo/models/livox_mid40/scan_mode/mid360.csv</csv_file_name>
  72.           <ros_topic>/scan</ros_topic>
  73.         </plugin>
  74.         <pose frame=''>0 0 0 0 -0 0</pose>
  75.       </sensor>
  76.     </link>
  77.   </model>
  78. </sdf>

 （1）刚开始打算按照XTdrone给出的Livox文件进行修改，将自己的dae文件放置进去，将碰撞模型和可视化模型均改为mid360.dae，仿真发现会出现卡顿的情况，目前还没有解决。暂时是使用了文档中提到的livox_mid40.dae作为碰撞参考，可视化部分还是使用mid360.dae文件。

（2）当时启动gazebo，仿真的mid360模型文件存在，但并没有点云数据，通过查看终端，发现是 mid360插件不能找到mid360.csv文件，然后最后通过写入绝对路径的方法成功仿真出点云数据，这里将PX4官方提供的velodyne的点云和mid360仿真的点云做了个大致对比，整体效果还行。

Velodyne：

Mid360：

6. 最后将Mid360固定到ZD550平台上，最后的ZD550_Mid360平台sdf文件：

  1. <?xml version="1.0"?>
  2. <sdf version="1.6">
  3.   <model name="Z550_Mid360_down">
  4.     <include>
  5.       <uri>model://Z550</uri>
  6.     </include>
  7.     <include>
  8.       <uri>model://Mid360</uri>
  9.       <pose>0 0 0.155 3.1415926 0 0</pose>
  10.     </include>
  11.     <joint name="3Dlidar_joint" type="revolute">
  12.       <child>Mid360::livox_base</child>
  13.       <parent>Z550::base_link</parent>
  14.       <axis>
  15.         <xyz>0 0 1</xyz>
  16.         <limit>
  17.           <upper>0</upper>
  18.           <lower>0</lower>
  19.         </limit>
  20.       </axis>
  21.     </joint>
  22.   </model>
  23. </sdf>

 最终的仿真效果如下

上述文件地址:https://download.csdn.net/download/weixin_52814031/88541781?spm=1001.2014.3001.5503

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