32 lines
1.6 KiB
XML
Executable File
32 lines
1.6 KiB
XML
Executable File
<?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>
|