Model submission for x500 sensor configuration 1 from CTU-CRAS-NORLAB.

[petrlmat]

This PR contains the submission of our x500 quadrotor aerial vehicle with custom controller with added feedforward acceleration and jerk. The controller was forked from the original controller and works the same way when supplied with cmd_vel twist. In addition to the cmd_vel input, the feedforward acceleration and jerk can be supplied to improve the performance of the controller. Please see details about the controller in README.md.

We believe that other teams' UAVs could also benefit from this improved controller. Let us know, whether you prefer us submitting the controller in a separate package.

[knoedler]

That is a great vehicle. Very nicely done.

A possible suggested change for your simulated rgbd cameras is below. The changes are:

1. FOV adjusted to 1.50098 to match the 86 degrees specified - fx/fy adjusted to match
2. Resolution adjusted to 640x360 as you lose quite a bit of horizontal FOV at 640x480 on the real camera
3. cx/cy adjusted per Camera image sensor center (principal point) off by 1. #406
4. Update rate changed to 30 as I don't think 20 is a supported value on the hardware - Can nicely be adjusted down by Implement ROS bridge for calling set_rate on cameras and lidars #791
   I know these were issues from the source, but it seems good to get them corrected now.

It might also make sense to update the FOV of your front camera to match the lens you plan to use.

rgbalt.txt

[petrlmat]

Thanks!

The proposed changes are reasonable. I integrated them in 0aae069.

1. FOV adjusted to 1.5098
2. Resolution adjusted to 1280x720, which is the depth resolution of Realsense D435
3. cx/cy adjusted
4. Update rate adjusted
5. Front-facing RGB camera is now modeled with parameters of the camera/lens combination from the real platform (see specifications.md.

[acschang]

The initial assessment of the CTU-CRAS-NORLAB x500 model is complete however there are some issues to resolve before this model can be merged and utilized in a competitive setting:

• Please separate the modifications to other UAV submitted models into a separate PR.
• Please clarify the discrepancy between the field-of-view of the lens in the specifications.md file and the HD camera in the model.sdf.
• Please add a barometer and magnetometer to the model's model.sdf file.
• Please address all comments in the model.sdf file.

Please address the issues noted above in this pull request. Once the above issues are fixed, your submission will move on to the next review stage!

[nkoenig]

Bounding box [0.609288 0.403926 0.29]

[petrlmat]

Thank you for the review. All mentioned issues have been addressed:

• The modifications of other UAV models were removed.
• The field of view discrepancy was addressed.
• Barometer and magnetometer were added
• Comments in model.sdf were addressed.

[acschang]

Thank you for your submission. The submission process for this model will be completed in #853.