From a0dd175cf375ab0b24aa06a403d4e97c10f8b514 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 1 Aug 2019 11:36:11 +0200
Subject: [PATCH] Added a ros_p3d plugin as the ground truth to the simulator
 model.

---
 darwin_description/urdf/darwin.gazebo | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/darwin_description/urdf/darwin.gazebo b/darwin_description/urdf/darwin.gazebo
index a69bbf8..897e6d5 100644
--- a/darwin_description/urdf/darwin.gazebo
+++ b/darwin_description/urdf/darwin.gazebo
@@ -363,4 +363,15 @@
     </plugin>
   </gazebo>
 
+  <gazebo>
+    <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
+      <topicName>/darwin/ground_truth</topicName>
+      <frameName>world</frameName>
+      <bodyName>base_link</bodyName>
+      <gaussianNoise>0.0</gaussianNoise>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>20.0</updateRate>
+    </plugin>
+  </gazebo> 
+
 </robot>
-- 
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