(Urgent matter)How to use Accelerometer for PR2 model in gazebo

asked 2018-01-01 23:19:44 -0500

Hi I am working for PR2 robot to implement force control in gazebo simulation. For that work, I need measured data from pressure sensor and accelerometer equipped in both arms. However, although PR2 must have accelerometers on the wrist parts, I could not find the sensor description of accelerometers.(On the other hand, I could find pressure sensor description.) So my questions are

(1)Does PR2 model in gazebo have accelerometer?

(2)Should I add the description of accelerometer in my world file?**

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