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IMU sensor plugin in drcsim

asked 2013-06-04 08:50:41 -0500

peshala gravatar image

updated 2013-06-04 08:55:17 -0500

hi all,

where does the .cpp code exist for this imu plugin. This is from

drcsim / ros / atlas_description / urdf / atlas.gazebo 

  <gazebo reference="imu_link">
    
    
    <sensor name="imu_sensor" type="imu">
      <always_on>1</always_on>
      <update_rate>1000.0</update_rate>
      <imu>
        <noise>
          <type>gaussian</type>
          
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>

Thanks

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answered 2013-06-04 09:22:06 -0500

ThomasK gravatar image
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@ThomasK Thanks. In my standalone installation (1.7.1) I could find ImuSensor.hh at /usr/include/gazebo-1.7/gazebo/sensors/ImuSensor.hh but ImuSensor.cc or a .so file is nowhere to be found. I am wondering why?

peshala gravatar imagepeshala ( 2013-06-05 00:37:01 -0500 )edit
1

Lack of .cc file is expected, debian packages are not including source files. Headers files are needed for developing against gazebo and binary code for Imu Sensor is part libgazebosensors.so. (try to run nm -D libgazebosensors.so | grep Imu). I would recommended download source code from bitbucket if you plan on looking at code.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-06-05 06:44:53 -0500 )edit
peshala gravatar imagepeshala ( 2013-06-05 23:02:53 -0500 )edit
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Asked: 2013-06-04 08:50:41 -0500

Seen: 582 times

Last updated: Jun 04 '13