diff --git a/config/bno055_imu_sim_config.yaml b/config/bno055_imu_sim_config.yaml index bb1391e73da055cbe633c16c4b05db0b75c29f8b..997560290c3969171a5e2a9b50eaa22e86f3a2f4 100644 --- a/config/bno055_imu_sim_config.yaml +++ b/config/bno055_imu_sim_config.yaml @@ -1,5 +1,6 @@ rate: 100.0 -namespace: '/' +namespace: '/imu' +tf_prefix: '/bno055' imu_topic: 'imu' accel_offset_x: 0.08 accel_offset_y: 0.08 diff --git a/config/microstrain_3dm_gx3_imu_sim_config.yaml b/config/microstrain_3dm_gx3_imu_sim_config.yaml index 6e81b87843cdca74916fe0559e2d579df88194b8..e7ea59231fec9fc11dff691a2a3779c5fdf6073a 100644 --- a/config/microstrain_3dm_gx3_imu_sim_config.yaml +++ b/config/microstrain_3dm_gx3_imu_sim_config.yaml @@ -1,5 +1,6 @@ rate: 100.0 namespace: '/' +tf_prefix: '/' imu_topic: 'imu' accel_offset_x: 0.002 accel_offset_y: 0.002 diff --git a/launch/bno055_imu_sim.launch b/launch/bno055_imu_sim.launch index 679a8785dab4b3fe68b9b17fe6b6287d44d1ca37..1b1c67231a906cf4cff5d4f5d75248497535ba5f 100644 --- a/launch/bno055_imu_sim.launch +++ b/launch/bno055_imu_sim.launch @@ -18,15 +18,17 @@ <arg name="pub_clock_frequency" value="100"/> </include> - <param name="robot_description" - command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> + <group ns="imu"> + <param name="robot_description" + command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" /> - <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster"> - <param name="tf_prefix" type="string" value="/bno055"/> - <param name="publish_frequency" type="double" value="20.0"/> - </node> - - <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model bno055_imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" /> + <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster"> + <param name="tf_prefix" type="string" value="/bno055"/> + <param name="publish_frequency" type="double" value="20.0"/> + </node> + + <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" /> + </group> </launch> diff --git a/urdf/imu.gazebo b/urdf/imu.gazebo index 71d2a5235d3aeec6f932ed6a7e4b5d33aa13127b..2b3d85bfb1cd9bee96a88cd9ee686e54c9192b08 100644 --- a/urdf/imu.gazebo +++ b/urdf/imu.gazebo @@ -12,6 +12,7 @@ <updateRate>${properties['rate']}</updateRate> <robotNamespace>${properties['namespace']}</robotNamespace> <bodyName>${name}</bodyName> + <frameId>${properties['tf_prefix']}/${name}</frameId> <topicName>${properties['imu_topic']}</topicName> <accelOffset>${properties['accel_offset_x']} ${properties['accel_offset_y']} ${properties['accel_offset_z']}</accelOffset> <accelDrift>${properties['accel_drift_x']} ${properties['accel_drift_y']} ${properties['accel_drift_z']}</accelDrift> @@ -19,9 +20,9 @@ <rateOffset>${properties['rate_offset_x']} ${properties['rate_offset_y']} ${properties['rate_offset_z']}</rateOffset> <rateDrift>${properties['rate_drift_x']} ${properties['rate_drift_y']} ${properties['rate_drift_z']}</rateDrift> <rateGaussianNoise>${properties['rate_noise_x']} ${properties['rate_noise_y']} ${properties['rate_noise_z']}</rateGaussianNoise> - <headingOffset>${properties['heading_offset']}</headingOffset> - <headingDrift>${properties['heading_drift']}</headingDrift> - <headingGaussianNoise>${properties['heading_noise']}</headingGaussianNoise> + <yawOffset>${properties['heading_offset']}</yawOffset> + <yawDrift>${properties['heading_drift']}</yawDrift> + <yawGaussianNoise>${properties['heading_noise']}</yawGaussianNoise> </plugin> </gazebo> </xacro:macro>