GPS in gazebo simulation
Hello,
I got a robot model with an IMU that works and I want to fuse that with the ros package robot_localization. Now I want to add GPS data to fuse it with the IMU data. But I can't get it to work. Currently I get this error:
Sensor[gps] is attempting to load a plugin, but detected an incorrect plugin type. Plugin filename[libhectorgazeborosgps.so] name[name_gps]
This is the code, the format is sdf and based on the tutorial:
<sensor name="gps" type="gps">
<plugin name="name_gps" filename="libhector_gazebo_ros_gps.so">
<alwayson>1</alwayson>
<updaterate>10.0</updaterate>
<bodyname>basefootprint</bodyname>
<topicname>fix</topicname>
<velocitytopicname>fixvelocity</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> </sensor>
