Gazebo linear acceleration Noise - Gazebo 2 - indigo

asked 2014-09-10 09:14:42 -0500

spour gravatar image

Hi,

I have a problem with imu data of the "libgazeborosimu.so" plugin. i get very noisy linear acceleration data when robot is not moving.

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this is what i get from imu topic:

    ---
header: 
  seq: 10953
  stamp: 
    secs: 11
    nsecs: 119000000
  frame_id: base_link
orientation: 
  x: 0.0071659275977
  y: 0.0340511398374
  z: -0.000113112652441
  w: 0.999394394903
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -0.00400716162519
  y: -0.00127208521212
  z: 0.00944197431538
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 0.670387105965
  y: -0.510443852772
  z: 7.91075242334
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 10954
  stamp: 
    secs: 11
    nsecs: 120000000
  frame_id: base_link
orientation: 
  x: 0.00716755328867
  y: 0.0340496913247
  z: -0.000108634427492
  w: 0.999394433094
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.00422132610322
  y: -0.00298965528582
  z: 0.0085078385762
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: -0.668442939911
  y: 0.508659481057
  z: -7.91055343516
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

i am setting the "libgaziborosimu.so" parameters as follow:

<gazebo>
    <plugin name="gazebo_ros_imu_controller" filename="libgazebo_ros_imu.so">
      <robotNamespace>/</robotNamespace>
      <topicName>imu/data</topicName>
      <serviceName>imu/service</serviceName>
      <bodyName>imu_link</bodyName>
      <!-- <frameId>base_link</frameId> -->
      <gaussianNoise>0</gaussianNoise>
      <rpyOffsets>0 0 0</rpyOffsets>
      <updateRate>50.0</updateRate>
      <alwaysOn>true</alwaysOn>
      <gaussianNoise>0</gaussianNoise>
    </plugin>
  </gazebo>

   <gazebo reference="imu_link">
    <turnGravityOff>false</turnGravityOff>
  </gazebo>

Thank you for your answer.

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Comments

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

hsu gravatar imagehsu ( 2014-09-12 17:56:19 -0500 )edit