Fix wind topic names for vtols

PX4 · Aug 4, 2020 · 89755a1 · 89755a1
1 parent 037ce1b
commit 89755a1
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/models/plane/plane.sdf b/models/plane/plane.sdf
@@ -560,7 +560,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="right_flap" filename="libLiftDragPlugin.so">
       <a0>0.05984281113</a0>
@@ -582,7 +582,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="elevator" filename="libLiftDragPlugin.so">
       <a0>-0.2</a0>

diff --git a/models/standard_vtol/standard_vtol.sdf b/models/standard_vtol/standard_vtol.sdf
@@ -741,7 +741,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="right_wing" filename="libLiftDragPlugin.so">
       <a0>0.05984281113</a0>
@@ -763,7 +763,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="elevator" filename="libLiftDragPlugin.so">
       <a0>-0.2</a0>
@@ -785,7 +785,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="rudder" filename="libLiftDragPlugin.so">
       <a0>0.0</a0>
@@ -803,7 +803,7 @@
       <upward>0 1 0</upward>
       <link_name>base_link</link_name>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
       <robotNamespace></robotNamespace>

diff --git a/models/tailsitter/tailsitter.sdf b/models/tailsitter/tailsitter.sdf
@@ -517,7 +517,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="right_wing" filename="libLiftDragPlugin.so">
       <a0>0.05984281113</a0>
@@ -540,7 +540,7 @@
       </control_joint_name>
       <control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name="rudder" filename="libLiftDragPlugin.so">
       <a0>0.0</a0>
@@ -558,7 +558,7 @@
       <upward>0 1 0</upward>
       <link_name>base_link</link_name>
       <robotNamespace></robotNamespace>
-      <windSubTopic>/wind</windSubTopic>
+      <windSubTopic>world_wind</windSubTopic>
     </plugin>
     <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
       <robotNamespace></robotNamespace>

diff --git a/worlds/windy.world b/worlds/windy.world
@@ -22,7 +22,7 @@
       <windGustDuration>0</windGustDuration>
       <windGustStart>0</windGustStart>
       <windGustVelocityMean>0</windGustVelocityMean>
-      <windPubTopic>/wind</windPubTopic>
+      <windPubTopic>world_wind</windPubTopic>
     </plugin>
     <physics name='default_physics' default='0' type='ode'>
       <gravity>0 0 -9.8066</gravity>