From 708dff5a5e20b8ad91743a8e6ba25da386b61006 Mon Sep 17 00:00:00 2001
From: Ayham Alharbat <44285656+ayhamalharbat@users.noreply.github.com>
Date: Wed, 12 Jun 2024 15:07:38 +0200
Subject: [PATCH] fixing the links and joints names in typhoon model to reflect
 the numbers of the motors in the px4's hex x airframe (#1043)

---
 models/typhoon_h480/typhoon_h480.sdf.jinja | 96 +++++++++++-----------
 1 file changed, 48 insertions(+), 48 deletions(-)

diff --git a/models/typhoon_h480/typhoon_h480.sdf.jinja b/models/typhoon_h480/typhoon_h480.sdf.jinja
index bdab369a6f..95490b0fe3 100644
--- a/models/typhoon_h480/typhoon_h480.sdf.jinja
+++ b/models/typhoon_h480/typhoon_h480.sdf.jinja
@@ -694,7 +694,7 @@
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
-    <link name='rotor_3'>
+    <link name='rotor_2'>
       <pose>0.211396 0.119762 0.082219 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -708,7 +708,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_3_collision'>
+      <collision name='rotor_2_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -725,7 +725,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_3_visual'>
+      <visual name='rotor_2_visual'>
         <pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
         <geometry>
           <mesh>
@@ -744,8 +744,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_3_joint' type='revolute'>
-      <child>rotor_3</child>
+    <joint name='rotor_2_joint' type='revolute'>
+      <child>rotor_2</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -766,7 +766,7 @@
         </ode>
       </physics>
     </joint>
-    <link name='rotor_0'>
+    <link name='rotor_5'>
       <pose>-0.209396 0.122762 0.082219 0 0 2.09439510239</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -780,7 +780,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_0_collision'>
+      <collision name='rotor_5_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -797,7 +797,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_0_visual'>
+      <visual name='rotor_5_visual'>
         <pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
         <geometry>
           <mesh>
@@ -816,8 +816,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_0_joint' type='revolute'>
-      <child>rotor_0</child>
+    <joint name='rotor_5_joint' type='revolute'>
+      <child>rotor_5</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -838,7 +838,7 @@
         </ode>
       </physics>
     </joint>
-    <link name='rotor_4'>
+    <link name='rotor_1'>
       <pose>-0.00187896 0.242705 0.0822169 0 0 0</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -852,7 +852,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_4_collision'>
+      <collision name='rotor_1_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -869,7 +869,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_4_visual'>
+      <visual name='rotor_1_visual'>
         <pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
         <geometry>
           <mesh>
@@ -888,8 +888,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_4_joint' type='revolute'>
-      <child>rotor_4</child>
+    <joint name='rotor_1_joint' type='revolute'>
+      <child>rotor_1</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -910,7 +910,7 @@
         </ode>
       </physics>
     </joint>
-    <link name='rotor_1'>
+    <link name='rotor_4'>
       <pose>0.211396 -0.119762 0.082219 0 0 -2.09439510239</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -924,7 +924,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_1_collision'>
+      <collision name='rotor_4_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -941,7 +941,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_1_visual'>
+      <visual name='rotor_4_visual'>
         <pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
         <geometry>
           <mesh>
@@ -960,8 +960,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_1_joint' type='revolute'>
-      <child>rotor_1</child>
+    <joint name='rotor_4_joint' type='revolute'>
+      <child>rotor_4</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -983,7 +983,7 @@
       </physics>
     </joint>
 
-    <link name='rotor_5'>
+    <link name='rotor_0'>
       <pose>-0.00187896 -0.242705 0.0822169 0 0 -2.09439510239</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -997,7 +997,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_5_collision'>
+      <collision name='rotor_0_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -1014,7 +1014,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_5_visual'>
+      <visual name='rotor_0_visual'>
         <pose>-0.211396 -0.119762 -0.082219 0 0 0</pose>
         <geometry>
           <mesh>
@@ -1033,8 +1033,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_5_joint' type='revolute'>
-      <child>rotor_5</child>
+    <joint name='rotor_0_joint' type='revolute'>
+      <child>rotor_0</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -1055,7 +1055,7 @@
         </ode>
       </physics>
     </joint>
-    <link name='rotor_2'>
+    <link name='rotor_3'>
       <pose>-0.209396 -0.122762 0.082219 0 0 2.09439510239</pose>
       <inertial>
         <pose>0 0 0 0 0 0</pose>
@@ -1069,7 +1069,7 @@
           <izz>0.000274004</izz>
         </inertia>
       </inertial>
-      <collision name='rotor_2_collision'>
+      <collision name='rotor_3_collision'>
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <cylinder>
@@ -1086,7 +1086,7 @@
           </friction>
         </surface>
       </collision>
-      <visual name='rotor_2_visual'>
+      <visual name='rotor_3_visual'>
         <pose>0.00187896 -0.242705 -0.0822169 0 0 0</pose>
         <geometry>
           <mesh>
@@ -1105,8 +1105,8 @@
       <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
-    <joint name='rotor_2_joint' type='revolute'>
-      <child>rotor_2</child>
+    <joint name='rotor_3_joint' type='revolute'>
+      <child>rotor_3</child>
       <parent>base_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
@@ -1161,10 +1161,10 @@
       <linkName>base_link</linkName>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
+      <jointName>rotor_5_joint</jointName>
+      <linkName>rotor_5</linkName>
       <turningDirection>cw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
@@ -1178,10 +1178,10 @@
       <motorSpeedPubTopic>/motor_speed/5</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
+      <jointName>rotor_4_joint</jointName>
+      <linkName>rotor_4</linkName>
       <turningDirection>ccw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
@@ -1195,10 +1195,10 @@
       <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
+      <jointName>rotor_3_joint</jointName>
+      <linkName>rotor_3</linkName>
       <turningDirection>ccw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
@@ -1212,10 +1212,10 @@
       <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
+      <jointName>rotor_2_joint</jointName>
+      <linkName>rotor_2</linkName>
       <turningDirection>cw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
@@ -1229,10 +1229,10 @@
       <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='left_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_4_joint</jointName>
-      <linkName>rotor_4</linkName>
+      <jointName>rotor_1_joint</jointName>
+      <linkName>rotor_1</linkName>
       <turningDirection>ccw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>
@@ -1246,10 +1246,10 @@
       <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
       <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
     </plugin>
-    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
+    <plugin name='right_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>
-      <jointName>rotor_5_joint</jointName>
-      <linkName>rotor_5</linkName>
+      <jointName>rotor_0_joint</jointName>
+      <linkName>rotor_0</linkName>
       <turningDirection>cw</turningDirection>
       <timeConstantUp>0.0125</timeConstantUp>
       <timeConstantDown>0.025</timeConstantDown>