【PX4二次开发】PX4添加无人机模型和一些问题的总结

最新推荐文章于 2024-08-18 02:20:07 发布

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最新推荐文章于 2024-08-18 02:20:07 发布

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文章标签：无人机

本文链接：https://blog.csdn.net/kcxxck/article/details/140878586

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【PX4二次开发】PX4添加无人机模型和一些问题的总结

从SolidWorks中导出STL模型文件

SolidWorks建模

在Solidworks中开展建模工作，搭建无人机的模型。模型主要由机体，电机，螺旋桨等零件组成。
在这里插入图片描述

SolidWorks零件添加质量属性

为了尽量与实物的质量分布相同，我在对每个零件建模的时候都提前对实物的质量和尺寸进行测量，最后自定义材料属性并赋值给零件。这样可以尽可能地保证模型和实物的相似度，最终装配体的质量属性如下：
在这里插入图片描述

新建参考坐标系并导出STL文件

此处，我选取了无人机模型的重心作为坐标系的原点，并将坐标轴的X轴对齐无人机的机头方向。
在这里插入图片描述
另存为STL，选项中选择输出坐标系为刚才新建的坐标系。

在这里插入图片描述

PX4固件中的设置

方便起见，本次直接在PX4的默认启动模型iris基础上进行更改如下（也可以参考PX4官方文档教程新定义机型，本次不涉及）：

SDF文件修改

在PX4-Autopilot/Tools/sitl_gazebo/models/iris文件夹中，新建一个sdf文件。仿照iris.sdf文件修改添加无人机质量，惯性矩，电机位置，机体和螺旋桨可视化文件，电机插件（电机常数、扭力系数，最大转速等参数可以通过动力系统实验测得数据），示例如下：

microfly.sdf

<!-- DO NOT EDIT: Generated from iris.sdf.jinja -->
<sdf version='1.6'>
  <model name='microfly'>
    <link name='base_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.279</mass>
        <inertia>
          <ixx>0.000509927</ixx>
          <ixy>-0.0000</ixy>
          <ixz>-0.0000</ixz>
          <iyy>0.000543117</iyy>
          <izy>-0.0000</izy>
          <izz>0.000833593</izz>
        </inertia>
      </inertial>
      <collision name='base_link_inertia_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.136 0.096 0.069</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_inertia_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://iris/meshes/microfly.STL</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <link name='/imu_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.001</mass>
        <inertia>
          <ixx>1e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-06</iyy>
          <iyz>0</iyz>
          <izz>1e-06</izz>
        </inertia>
      </inertial>
    </link>
    <joint name='/imu_joint' type='revolute'>
      <child>/imu_link</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
          <effort>0</effort>
          <velocity>0</velocity>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_0'>
      <pose>0.0535 -0.0535 -0.0224 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0037</mass>
        <inertia>
          <ixx>9.50e-07</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>9.50e-07</iyy>
          <iyz>0</iyz>
          <izz>1.816e-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_0_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.045</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_0_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://iris/meshes/microfly_3.5_prpo_ccw.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/RedTransparent</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_0_joint' type='revolute'>
      <child>rotor_0</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_1'>
      <pose>-0.0535 0.0535 -0.0224 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0037</mass>
        <inertia>
          <ixx>9.50e-07</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>9.50e-07</iyy>
          <iyz>0</iyz>
          <izz>1.816e-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_1_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.045</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_1_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://iris/meshes/microfly_3.5_prpo_ccw.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/BlueTransparent</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_1_joint' type='revolute'>
      <child>rotor_1</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_2'>
      <pose>0.0535 0.0535 -0.0224 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0037</mass>
        <inertia>
          <ixx>9.50e-07</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>9.50e-07</iyy>
          <iyz>0</iyz>
          <izz>1.816e-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_2_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.045</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_2_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://iris/meshes/microfly_3.5_prpo_cw.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/RedTransparent</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_2_joint' type='revolute'>
      <child>rotor_2</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <link name='rotor_3'>
      <pose>-0.0535 -0.0535 -0.0224 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.0037</mass>
        <inertia>
          <ixx>9.50e-07</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>9.50e-07</iyy>
          <iyz>0</iyz>
          <izz>1.816e-06</izz>
        </inertia>
      </inertial>
      <collision name='rotor_3_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.045</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_3_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://iris/meshes/microfly_3.5_prpo_cw.stl</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/BlueTransparent</name>
            <uri>file://media/materials/scripts/gazebo.material</uri>
          </script>
        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
    </link>
    <joint name='rotor_3_joint' type='revolute'>
      <child>rotor_3</child>
      <parent>base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
      <robotNamespace/>
      <linkName>base_link</linkName>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1200</maxRotVelocity>
      <motorConstant>8.015e-07</motorConstant>
      <momentConstant>0.0135</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1200</maxRotVelocity>
      <motorConstant>8.015e-07</motorConstant>
      <momentConstant>0.0135</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1200</maxRotVelocity>
      <motorConstant>8.015e-07</motorConstant>
      <momentConstant>0.0135</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1200</maxRotVelocity>
      <motorConstant>8.015e-07</motorConstant>
      <momentConstant>0.0135</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <include>
      <uri>model://gps</uri>
      <pose>0 0 0 0 0 0</pose>
      <name>gps0</name>
    </include>
    <joint name='gps0_joint' type='fixed'>
      <child>gps0::link</child>
      <parent>base_link</parent>
    </joint>
    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
      <robotNamespace/>
    </plugin>
    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
      <robotNamespace/>
      <pubRate>100</pubRate>
      <noiseDensity>0.0004</noiseDensity>
      <randomWalk>6.4e-06</randomWalk>
      <biasCorrelationTime>600</biasCorrelationTime>
      <magTopic>/mag</magTopic>
    </plugin>
    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
      <robotNamespace/>
      <pubRate>50</pubRate>
      <baroTopic>/baro</baroTopic>
      <baroDriftPaPerSec>0</baroDriftPaPerSec>
    </plugin>
    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace/>
      <imuSubTopic>/imu</imuSubTopic>
      <magSubTopic>/mag</magSubTopic>
      <baroSubTopic>/baro</baroSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_tcp_port>4560</mavlink_tcp_port>
      <mavlink_udp_port>14560</mavlink_udp_port>
      <serialEnabled>0</serialEnabled>
      <serialDevice>/dev/ttyACM0</serialDevice>
      <baudRate>921600</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <sdk_addr>INADDR_ANY</sdk_addr>
      <sdk_udp_port>14540</sdk_udp_port>
      <hil_mode>0</hil_mode>
      <hil_state_level>0</hil_state_level>
      <send_vision_estimation>0</send_vision_estimation>
      <send_odometry>1</send_odometry>
      <enable_lockstep>1</enable_lockstep>
      <use_tcp>1</use_tcp>
      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
      <control_channels>
        <channel name='rotor1'>
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>2000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor2'>
          <input_index>1</input_index>
          <input_offset>0</input_offset>
          <input_scaling>2000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor3'>
          <input_index>2</input_index>
          <input_offset>0</input_offset>
          <input_scaling>2000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor4'>
          <input_index>3</input_index>
          <input_offset>0</input_offset>
          <input_scaling>2000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor5'>
          <input_index>4</input_index>
          <input_offset>1</input_offset>
          <input_scaling>324.6</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
          <joint_control_pid>
            <p>0.1</p>
            <i>0</i>
            <d>0</d>
            <iMax>0.0</iMax>
            <iMin>0.0</iMin>
            <cmdMax>2</cmdMax>
            <cmdMin>-2</cmdMin>
          </joint_control_pid>
          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
        </channel>
        <channel name='rotor6'>
          <input_index>5</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='rotor7'>
          <input_index>6</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='rotor8'>
          <input_index>7</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
        </channel>
      </control_channels>
    </plugin>
    <static>0</static>
    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
      <robotNamespace/>
      <linkName>/imu_link</linkName>
      <imuTopic>/imu</imuTopic>
      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
    </plugin>
  </model>
</sdf>

mesh文件添加

在同目录下的mesh文件夹中添加上述sdf文件所需的STL文件。

环境依赖添加

将 ~/PX4-Autopilot/ 和 ~/PX4-Autopilot/Tools/sitl_gazebo目录添加到 ROS_PACKAGE_PATH 中。如果 sitl_gazebo 目录包含与仿真相关的 ROS 包或依赖项，添加这个目录后，ROS 可以识别这些包。

我直接将这些命令写入到了.bashrc文件中。

source ~/PX4-Autopilot/Tools/setup_gazebo.bash ~/PX4-Autopilot ~/PX4-Autopilot/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/PX4-Autopilot/Tools/sitl_gazebo

launch文件修改

本次只简单地将PX4-Autopilot/launch 文件夹中的 posix_sitl.launch 的sdf文件修改为前边定义的sdf文件，也可以新建一个launch文件，这里就偷懒了。

<arg name="vehicle" default="iris"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/microfly.sdf"/>

启动仿真

cd PX4-Autopilot/

roslaunch px4 posix_sitl.launch

gazebo中无人机悄悄移动

描述

启动px4 gazebo仿真后，在没有进行解锁和其他操作的情况下，无人机会缓慢移动，且伴随着抖动。查看base_link的pose信息发现模型有一个较大的pitch角，这导致了模型一直朝着一个方向移动。

分析

主要是由于SDF模型定义中惯性矩与碰撞几何体质量分布对应不上导致的！碰撞几何体的定义应与模型的实际形状和质量分布一致。如果碰撞几何体的形状或位置与实际物体不一致，也可能导致模型在仿真中出现额外的力矩。

解决方法：

首先对物理模型的参数进行简化，将非对角的系数置为零，找到一个与简化后物理模型质量、转动惯量参数相同的长方体作为简化的几何体，计算方法如下：

      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.279</mass>
        <inertia>
          <ixx>0.000509927</ixx>
          <ixy>-0.0000</ixy>
          <ixz>-0.0000</ixz>
          <iyy>0.000543117</iyy>
          <izy>-0.0000</izy>
          <izz>0.000833593</izz>
        </inertia>
      </inertial>

这是我的物理模型质量和惯性矩参数，根据惯性矩计算公式：
$I_{xx}=m(b^2+c^2)/12\\ I_{yy}=m(a^2+c^2)/12\\ I_{zz}=m(a^2+b^2)/12$
求解得到： $\approx 0.136, b \approx 0.096 , c \approx 0.069$

因此，长方体的近似尺寸为 0.136 m×0.096 m×0.069 m。

修改碰撞几何体的尺寸定义如下：

<collision name='base_link_inertia_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>0.136 0.096 0.069</size>
          </box>
        </geometry>

再次打开px4 gazebo仿真之后，模型不再偷偷移动！