How to simulate sensor feedback from an accelerometer/gryoscope

How would you create a sensor in Gazebo that mimics an accelerometer and gyroscope? Does it have to be explicitly defined with a tag, or would this be done with a plugin that tracks the COM and orientation over time and does the math to simulate measuring acceleration and rotation?

Asked by Cerin on 2015-04-12 00:46:45 UTC

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You should probably check the IMU (Inertial Measurement Unit) sensor, that simulates both an accelerometer and a gyroscope: http://gazebosim.org/tutorials?tut=sensor_noise#IMUnoise .

Asked by silvio.traversaro on 2015-04-12 03:50:20 UTC

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Is there somewhere that explains how to access this sensor programmatically in a plugin?

Asked by Cerin on 2015-04-12 10:56:52 UTC

There is an example on how to build a plugin accessing a contact sensor in http://gazebosim.org/tutorials?tut=contact_sensor . By comparing the API of ContactSensor with the one of ImuSensor (http://osrf-distributions.s3.amazonaws.com/gazebo/api/5.0.0/classgazebo_1_1sensors_1_1ImuSensor.html#details) , getting a working plugin for an Imu should be trivial.

Asked by silvio.traversaro on 2015-04-12 14:04:19 UTC