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> -- GitLab