Iris: add tether and payload example #87
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…tl_gazebo Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Wow, fantastic! I was thinking of adding support for reducing oscillation of slung payloads for an upcoming competition later this year. |
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@srmainwaring thanks! |
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Draft: do not merge this version.
Add a model for a 4m x 6mm rope tether and provide example with tether and payload attached to an Iris.
Tether model originally sourced from https://github.com/RigidWing/sitl_gazebo and modified to correct physical properties (inertia and dynamics).
Usage
Follow the instructions for the standard Iris example in the README.
Details
Tether
Payload
Figure: iris and tether in initial configuration
Figure: iris and tether hovering
Figure: waypoint mission
Other changes
base_linkcollision to prevent intersection with tether (no self collide, so not strictly required)