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add apm

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HiepLM
2026-02-26 09:48:16 +07:00
parent e8d5980572
commit 148a5e2c60
158 changed files with 9014 additions and 1 deletions
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31
Controllers/Packages/cititruck_description/urdf/include/imu.gazebo.urdf.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- If tf_prefix is given, use "frame tf_prefix/imu_frame", else "imu_frame" -->
<xacro:arg name="tf_prefix" default="" />
<xacro:property name="tf_prefix" value="$(arg tf_prefix)" />
<xacro:if value="${tf_prefix == ''}">
<xacro:property name="imu_frame" value="imu_frame" />
</xacro:if>
<xacro:unless value="${tf_prefix == ''}">
<xacro:property name="imu_frame" value="$(arg tf_prefix)/imu_frame" />
</xacro:unless>
<xacro:macro name="imu_gazebo" params="link imu_topic update_rate">
<gazebo>
<plugin name="imu_plugin" filename="libhector_gazebo_ros_imu.so">
<updateRate>${update_rate}</updateRate>
<bodyName>${link}</bodyName>
<frameId>${imu_frame}</frameId> <!-- from real MiR -->
<topicName>${imu_topic}</topicName>
<accelDrift>0.0 0.0 0.0</accelDrift>
<accelGaussianNoise>${sqrt(5e-05)} ${sqrt(0.0001)} ${sqrt(0.00013)}</accelGaussianNoise> <!-- real MiR linear_acceleration_covariance: [5e-05, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.00013] -->
<rateDrift>0.0 0.0 0.0</rateDrift>
<rateGaussianNoise>${sqrt(8e-06)} ${sqrt(8e-06)} ${sqrt(3e-07)}</rateGaussianNoise> <!-- real MiR angular_velocity_covariance: [8e-06, 0.0, 0.0, 0.0, 8e-06, 0.0, 0.0, 0.0, 3e-07] -->
<yawDrift>0.0</yawDrift>
<yawGaussianNoise>${sqrt(0.1)}</yawGaussianNoise> <!-- real MiR orientation_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1] -->
</plugin>
</gazebo>
</xacro:macro>
</robot>