IMU sensor plugin libgazebo_ros_imu.so: strange data

asked 2013-10-14 07:26:55 -0500

psei gravatar image

updated 2013-10-21 02:38:58 -0500

Hello community,

I have a problem with the simulated data of the "libgazebo_ros_imu.so" plugin.

Here is my urdf code:

<robot>
<link name="imu_link">
    <inertial>
        <mass value="${dummy_mass}" />
        <origin xyz="0 0 0" />
        <inertia ixx="${dummy_inertia}" ixy="0.0" ixz="0.0"
                 iyy="${dummy_inertia}" iyz="0.0" 
                 izz="${dummy_inertia}" />
    </inertial>     
        <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
            <box size = "0.1 0.1 0.1"/> 
                </geometry>
        </visual>
    <collision>         
        <geometry>
            <box size = "0.1 0.1 0.1"/> 
        </geometry>
    </collision>     
    </link>

<joint name="imu_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <origin xyz="0.05 0 0.15" rpy="0 0 0" />
    <parent link="base_link"/>
    <child link="imu_link" />
</joint>

<gazebo>    
    <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>       
        <bodyName>imu_link</bodyName>
        <topicName>imu_data</topicName>
        <serviceName>imu_service</serviceName>
        <gaussianNoise>0.0</gaussianNoise>
        <updateRate>10.0</updateRate> 
    </plugin>
</gazebo>
</robot>

With these settings I can read from the rostopic "imu_data", but the simulated data is really strange and not fitting to the movement of the robot at all. It seems as it just ignores the movement. For example, even when standing completely still, I see very high values for up / down movement, they just seem randomly generated.

When moving forward or backward, it doesnt seem to affect the simulated imu data as well.

Here are some screenshots. Position of the camera was behind the robot looking forward. Imagine that the arrow that shows the imu sensor data flips up and down at a very high rate during a short period of time. The robot isnt moving at all.

IMU data 1 IMU data 3 IMU data 4

Any tips for improvement?

regards psei

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Comments

Your images seem to be broken. Can you try updating them?

nkoenig gravatar imagenkoenig ( 2013-10-16 16:57:55 -0500 )edit

What do you mean by "broken"? Can't you see them?

psei gravatar imagepsei ( 2013-10-17 03:04:21 -0500 )edit

Right, I can't see them. I believe it's because the images are hosted on a webserver using HTTPS, but the certificate is not verified.

nkoenig gravatar imagenkoenig ( 2013-10-17 10:29:02 -0500 )edit

I changed the links from https to http, does it work now?

psei gravatar imagepsei ( 2013-10-21 02:40:04 -0500 )edit

I am having the same issue, did you solve the problem?

EFernandes gravatar imageEFernandes ( 2014-02-06 06:04:57 -0500 )edit

I am facing the same situation here. Did you find a solution to this problem? Please help.

keshav_sarraf gravatar imagekeshav_sarraf ( 2014-05-28 00:37:40 -0500 )edit

i have the same problem. did you find any solution for this?

spour gravatar imagespour ( 2014-09-09 14:50:41 -0500 )edit

can you post an urdf or world file that I can load to reproduce the issue?

hsu gravatar imagehsu ( 2014-09-12 17:55:18 -0500 )edit

can you post an urdf or world file that I can load to reproduce the issue? Thanks!

hsu gravatar imagehsu ( 2014-09-12 17:55:48 -0500 )edit

Same issue here with the same urdf under ros-indigo and gazebo7.

GuillaumeB gravatar imageGuillaumeB ( 2017-01-02 10:11:14 -0500 )edit