I'm trying to attach a gps sensor to a gazebo model of a robot I have. I use a robot.urdf.xacro file to describe the robot and a robot.gazebo file to describe the sensors. I don't know how to implement the gps. Is there any tutorial or information about it?
Thanks
You can include it in the URDF model of your robot using the plugin tag like this:
<gazebo>
<plugin name="novatel_gps_sim" filename="libhector_gazebo_ros_gps.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<bodyName>base_footprint</bodyName>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.1 0.1 0.1</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</plugin>
</gazebo>
Here you can find a working example.
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I am trying to use it but I don't know how to implement it in the .gazebo file. I have a previous version in which:
<gazebo>
<controller:hector_gazebo_ros_gps name="novatel_gps_sim" plugin="libhector_gazebo_ros_gps.so">
<alwaysOn>true</alwaysOn>
<updateRate>4.0</updateRate>
<bodyName>base_footprint</bodyName>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.1 0.1 0.1</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</controller:hector_gazebo_ros_gps>
</gazebo>
The problem is that I don't know how to adapt this code for gazebo 1.9
Asked: 2014-05-19 04:05:22 -0500
Seen: 4,223 times
Last updated: May 21 '14
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Have a look at http://wiki.ros.org/hector_gazebo_plugins#GazeboRosGps
I am trying to use it but I don't know how to implement it in the .gazebo file.