imu sensor with BuoyancyPlugin return NaN

asked 2017-12-02 10:49:43 -0500

patrickelectric gravatar image

When I add the BuoyancyPlugin:

<plugin name="BuoyancyPlugin" filename="libBuoyancyPlugin.so">
    <fluid_density>1000</fluid_density>
     <link name="base_link">
      <center_of_volume>0 0 0</center_of_volume>
      <volume>0.0110001</volume>
    </link>
</plugin>

Whith the imu sensor:

<link name='imu_link'>
  <inertial>
    <pose>0 0 0 0 0 0</pose>
    <mass>0.20</mass>
    <inertia>
      <ixx>0.00001</ixx>
      <ixy>0</ixy>
      <ixz>0</ixz>
      <iyy>0.00001</iyy>
      <iyz>0</iyz>
      <izz>0.00001</izz>
    </inertia>
  </inertial>
  <sensor name="imu_sensor" type="imu">
    <pose>0 0 0 0 0 0</pose>
    <always_on>1</always_on>
    <update_rate>1000.0</update_rate>
  </sensor>
</link>

Running gz topic -e in imu sensor topic, always return NaN for angular velocity and linear acceleration.

Someone know anything about this ?

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