How to take off the inherent quadrotor model in Gazebo? I need to simulate a payload suspended quadrotor so I modified this model

This quadrotor model is from .Gazebo/models, how to take off it? Or in other way, is there a way to modify the Typhoon quadcopter model rendered by PX4 adding a payload to it? Thanks in advance! !

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New progress: I have added a cable_suspended payload to the iris model with mass that is fixed to the center of the iris drone with a ball joint, however, a problem came that the GPS can not be used when trying to takeoff and the reason seems to relate to that the GPS module is superposed with the ball joint. Has anyone encountered such problem?

Solved this by using iris model. Was using iris_fpv_cam.

May I ask how did you build the quadcopter payload system?

I added a stick with a cyclinder at its one end and with the other end connected to the Iris drone model bottom. The model cannot retract the payload, and the stick is not elastic as an ideal cable, either

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As for how to do, check many existing tutorials about modification of SDF. file of robots

Thanks for your reply.