How would you create a sensor in Gazebo that mimics an accelerometer and gyroscope? Does it have to be explicitly defined with a <sensor> 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?
You should probably check the IMU (Inertial Measurement Unit) sensor, that simulates both an accelerometer and a gyroscope: http://gazebosim.org/tutorials?tut=se... .
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: 2015-04-12 00:46:45 -0600
Seen: 43,295 times
Last updated: Apr 12 '15
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