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feat: add real wind effect on multicopter-like models with WindEffects gz plugin #130

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feat: add real wind effect on multicopter-like models with WindEffects gz plugin #130

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25ce58b
feat: add WindEffects plugin to windy.sdf
beniaminopozzan Jan 1, 2026
2cc895a
feat: enable wind on all base links of non-fw models
beniaminopozzan Jan 1, 2026
79caf01
chore: set initial wind speed to zero
beniaminopozzan Jan 1, 2026
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1 change: 1 addition & 0 deletions models/advanced_plane/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
<model name='advanced_plane'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<enable_wind>false</enable_wind>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/omnicopter/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
<self_collide>false</self_collide>
<static>false</static>
<link name='base_link'>
<enable_wind>true</enable_wind>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose>0 0 0 0 -0 0</pose>
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1 change: 1 addition & 0 deletions models/px4vision/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@
<self_collide>false</self_collide>
<static>false</static>
<link name='base_link'>
<enable_wind>true</enable_wind>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/quadtailsitter/model.sdf
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Expand Up @@ -2,6 +2,7 @@
<sdf version='1.10'>
<model name='quadtailsitter'>
<link name='base_link'>
<enable_wind>false</enable_wind>
<pose>0 0 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0.05 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/rc_cessna/model.sdf
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Expand Up @@ -3,6 +3,7 @@
<model name='rc_cessna'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<enable_wind>false</enable_wind>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/standard_vtol/model.sdf
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Expand Up @@ -4,6 +4,7 @@
<model name='standard_vtol'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<enable_wind>false</enable_wind>
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@Jaeyoung-Lim Jaeyoung-Lim Jan 1, 2026

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Why disable these?

<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/tiltrotor/model.sdf
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Expand Up @@ -4,6 +4,7 @@
<model name='tiltrotor'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<enable_wind>true</enable_wind>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
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1 change: 1 addition & 0 deletions models/x500_base/model.sdf
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Expand Up @@ -5,6 +5,7 @@
<self_collide>false</self_collide>
<static>false</static>
<link name="base_link">
<enable_wind>true</enable_wind>
<inertial>
<mass>2.0</mass>
<inertia>
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39 changes: 37 additions & 2 deletions worlds/windy.sdf
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Expand Up @@ -58,7 +58,6 @@
<izz>1</izz>
</inertia>
</inertial>
<enable_wind>true</enable_wind>
</link>
<pose>0 0 0 0 -0 0</pose>
<self_collide>false</self_collide>
Expand All @@ -83,7 +82,7 @@
</spot>
</light>
<wind>
<linear_velocity>5 2 0</linear_velocity>
<linear_velocity>0 0 0</linear_velocity>
</wind>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
Expand All @@ -92,5 +91,41 @@
<longitude_deg> 8.546163739800146</longitude_deg>
<elevation>0</elevation>
</spherical_coordinates>
<!-- Load the plugin for the wind -->
<plugin
filename="gz-sim-wind-effects-system"
name="gz::sim::systems::WindEffects">
<force_approximation_scaling_factor>1</force_approximation_scaling_factor>
<horizontal>
<magnitude>
<time_for_rise>10</time_for_rise>
<sin>
<amplitude_percent>0.05</amplitude_percent>
<period>60</period>
</sin>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.0002</stddev>
</noise>
</magnitude>
<direction>
<time_for_rise>30</time_for_rise>
<sin>
<amplitude>5</amplitude>
<period>20</period>
</sin>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.03</stddev>
</noise>
</direction>
</horizontal>
<vertical>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.03</stddev>
</noise>
</vertical>
</plugin>
</world>
</sdf>