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Iris: add tether and payload example #87

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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

  • approximates 6 mm diameter Dyneema rope
  • radius: 3 mm
  • mass per metre: 0.026 kg
  • tether length: 4 m
  • tether mass: 0.1 kg
  • approximated using 20 segments connected by universal joints

Payload

  • shape: sphere
  • mass 0.75 kg
  • radius: 0.05 m

Figure: iris and tether in initial configuration
iris_tether_landed

Figure: iris and tether hovering
iris_tether_hover

Figure: waypoint mission
iris_tether_auto

Other changes

  • Update Iris base_link collision to prevent intersection with tether (no self collide, so not strictly required)

@srmainwaring srmainwaring added the enhancement New feature or request label Mar 7, 2024
@srmainwaring srmainwaring self-assigned this Mar 7, 2024
@srmainwaring srmainwaring marked this pull request as draft March 7, 2024 13:54
@rmackay9
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rmackay9 commented Mar 8, 2024

Wow, fantastic! I was thinking of adding support for reducing oscillation of slung payloads for an upcoming competition later this year.

@tridge
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tridge commented Mar 8, 2024

@srmainwaring thanks!

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3 participants