Add bumper sensor separately

PX4 · Mar 27, 2019 · 2f0070e · 2f0070e
1 parent da97fe5
commit 2f0070e
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Showing 3 changed files with 61 additions and 35 deletions.
diff --git a/models/bumper_sensor/bumper_sensor.sdf b/models/bumper_sensor/bumper_sensor.sdf
@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="bumper_sensor">
+    <!-- Only difference to regular iris is this sensor and a MAVLink stream -->
+    <link name="bumper_link">
+      <inertial>
+        <pose>0.01 0.025 0.025 0 0 0</pose>
+        <mass>0.01</mass>
+        <inertia>
+          <ixx>4.15e-6</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>2.407e-6</iyy>
+          <iyz>0</iyz>
+          <izz>2.407e-6</izz>
+        </inertia>
+      </inertial>
+
+      <collision name='bumper_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.47 0.47 0.11</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <sensor name="bumper_sensor" type="contact">
+        <always_on>true</always_on>
+        <update_rate>30.0</update_rate>
+        <contact>
+          <collision>bumper_collision</collision>
+        </contact>
+        <plugin name="benchmarking_bumper" filename="libgazebo_ros_bumper.so">
+          <bumperTopicName>benchmarker/collision</bumperTopicName>
+        </plugin>
+      </sensor>
+
+    </link>
+  </model>
+</sdf>
diff --git a/models/bumper_sensor/model.config b/models/bumper_sensor/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>Bumper Sensor</name>
+  <version>1.0</version>
+  <sdf version='1.4'>bumper_sensor.sdf</sdf>
+
+  <author>
+   <name>Nico van Duijn</name>
+   <email>nico@auterion.com</email>
+  </author>
+
+  <description>
+    This is a model of a simple bumper sensor.
+    It uses the gazebo-ros plugin to publish collisions on a ROS topic
+  </description>
+</model>
diff --git a/models/iris_obs_avoid/iris_obs_avoid.sdf b/models/iris_obs_avoid/iris_obs_avoid.sdf
@@ -5,43 +5,12 @@
     </include>
 
     <!-- Only difference to regular iris is this sensor and a MAVLink stream -->
-    <link name="bumper_link">
-      <inertial>
-        <pose>0.01 0.025 0.025 0 0 0</pose>
-        <mass>0.01</mass>
-        <inertia>
-          <ixx>4.15e-6</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>2.407e-6</iyy>
-          <iyz>0</iyz>
-          <izz>2.407e-6</izz>
-        </inertia>
-      </inertial>
-
-      <collision name='bumper_collision'>
-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
-            <box>
-              <size>0.47 0.47 0.11</size>
-            </box>
-          </geometry>
-      </collision>
-
-      <sensor name="bumper_sensor" type="contact">
-        <always_on>true</always_on>
-        <update_rate>30.0</update_rate>
-        <contact>
-          <collision>bumper_collision</collision>
-        </contact>
-        <plugin name="benchmarking_bumper" filename="libgazebo_ros_bumper.so">
-          <bumperTopicName>benchmarker/collision</bumperTopicName>
-        </plugin>
-      </sensor>
-    </link>
+    <include>
+      <uri>model://bumper_sensor</uri>
+    </include>
 
     <joint name="bumper_joint" type="revolute">
-      <child>bumper_link</child>
+      <child>bumper_sensor::bumper_link</child>
       <parent>iris::base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>