From 62a39a8c8e6b60602187b7df3a94ef81bb089ddf Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 22 Jun 2018 10:13:16 +0200
Subject: [PATCH] Added all the parameters of the gazebo plugin to the YAML
file.
---
.../microstrain_3dm_gx3_imu_sim_config.yaml | 28 +++++++++++++++++--
urdf/imu.gazebo | 22 +++++++++------
2 files changed, 38 insertions(+), 12 deletions(-)
diff --git a/config/microstrain_3dm_gx3_imu_sim_config.yaml b/config/microstrain_3dm_gx3_imu_sim_config.yaml
index 89986c0..6e81b87 100644
--- a/config/microstrain_3dm_gx3_imu_sim_config.yaml
+++ b/config/microstrain_3dm_gx3_imu_sim_config.yaml
@@ -1,3 +1,25 @@
-rate: 10.0
-namespace: '/prova'
-imu_topic: 'imu_raw'
+rate: 100.0
+namespace: '/'
+imu_topic: 'imu'
+accel_offset_x: 0.002
+accel_offset_y: 0.002
+accel_offset_z: 0.002
+accel_drift_x: 0.0
+accel_drift_y: 0.0
+accel_drift_z: 0.0
+accel_noise_x: 0.00008
+accel_noise_y: 0.00008
+accel_noise_z: 0.00008
+rate_offset_x: 0.25
+rate_offset_y: 0.25
+rate_offset_z: 0.25
+rate_drift_x: 0.0
+rate_drift_y: 0.0
+rate_drift_z: 0.0
+rate_noise_x: 0.03
+rate_noise_y: 0.03
+rate_noise_z: 0.03
+heading_offset: 0.003
+heading_drift: 0.0
+heading_noise: 0.0001
+
diff --git a/urdf/imu.gazebo b/urdf/imu.gazebo
index 8af3104..04418d1 100644
--- a/urdf/imu.gazebo
+++ b/urdf/imu.gazebo
@@ -3,21 +3,25 @@
<xacro:macro name="microstrain_imu_gazebo" params="name config">
<xacro:property name="properties" value="${load_yaml(config)}"/>
+ <gazebo reference="${name}_microstrain_imu">
+ <material>Gazebo/Black</material>
+ </gazebo>
+
<gazebo>
<plugin name="${name}_microstrain_imu_sim" filename="libhector_gazebo_ros_imu.so">
<updateRate>${properties['rate']}</updateRate>
<robotNamespace>${properties['namespace']}</robotNamespace>
<bodyName>${name}_microstrain_imu</bodyName>
<topicName>${properties['imu_topic']}</topicName>
- <accelOffset>0.002 0.002 0.002</accelOffset>
- <accelDrift>0.0 0.0 0.0</accelDrift>
- <accelGaussianNoise>0.00008 0.00008 0.00008</accelGaussianNoise>
- <rateOffset>0.25 0.25 0.25</rateOffset>
- <rateDrift>0.0 0.0 0.0</rateDrift>
- <rateGaussianNoise>0.03 0.03 0.03</rateGaussianNoise>
- <headingOffset>0.003</headingOffset>
- <headingDrift>0.0</headingDrift>
- <headingGaussianNoise>0.0001</headingGaussianNoise>
+ <accelOffset>${properties['accel_offset_x']} ${properties['accel_offset_y']} ${properties['accel_offset_z']}</accelOffset>
+ <accelDrift>${properties['accel_drift_x']} ${properties['accel_drift_y']} ${properties['accel_drift_z']}</accelDrift>
+ <accelGaussianNoise>${properties['accel_noise_x']} ${properties['accel_noise_y']} ${properties['accel_noise_z']}</accelGaussianNoise>
+ <rateOffset>${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>
</plugin>
</gazebo>
</xacro:macro>
--
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