From 4c05ea2fa73d1745dce8f1c55e045f3e9bfe9dd2 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 24 Oct 2018 18:09:26 +0200
Subject: [PATCH] Added the tf_prefix to the configuration files to use the
correct frames. Updated the names of the heading parameters to yaw.
---
config/bno055_imu_sim_config.yaml | 3 ++-
config/microstrain_3dm_gx3_imu_sim_config.yaml | 1 +
launch/bno055_imu_sim.launch | 18 ++++++++++--------
urdf/imu.gazebo | 7 ++++---
4 files changed, 17 insertions(+), 12 deletions(-)
diff --git a/config/bno055_imu_sim_config.yaml b/config/bno055_imu_sim_config.yaml
index bb1391e..9975602 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 6e81b87..e7ea592 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 679a878..1b1c672 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 71d2a52..2b3d85b 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>
--
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