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hi all,

where does the .cpp code exist for this imu plugin. This is from

drcsim / ros / atlas_description / urdf / atlas.gazebo 

<textarea a="" rows="40" cols="100" style="border:none;"> <gazebo reference="imu_link"> <sensor name="imu_sensor" type="imu"> <always_on>1</always_on> <update_rate>1000.0</update_rate> <imu> <noise> <type>gaussian</type> <rate> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </rate> <accel> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </accel> </noise> </imu> </sensor> </gazebo> </textarea>

Thanks

hi all,

where does the .cpp code exist for this imu plugin. This is from

drcsim / ros / atlas_description / urdf / atlas.gazebo 

<textarea a="" rows="40" cols="100" style="border:none;"> <gazebo reference="imu_link"> <sensor name="imu_sensor" type="imu"> <always_on>1</always_on> <update_rate>1000.0</update_rate> <imu> <noise> <type>gaussian</type> <rate> <mean>0.0</mean> <stddev>2e-4</stddev> <bias_mean>0.0000075</bias_mean> <bias_stddev>0.0000008</bias_stddev> </rate> <accel> <mean>0.0</mean> <stddev>1.7e-2</stddev> <bias_mean>0.1</bias_mean> <bias_stddev>0.001</bias_stddev> </accel> </noise> </imu> </sensor> </gazebo> </textarea></gazebo>

Thanks

hi all,

where does the .cpp code exist for this imu plugin. This is from

drcsim / ros / atlas_description / urdf / atlas.gazebo 

 <gazebo reference="imu_link">
    
    
    <sensor name="imu_sensor" type="imu">
      <always_on>1</always_on>
      <update_rate>1000.0</update_rate>
      <imu>
        <noise>
          <type>gaussian</type>
          
          <rate>
            <mean>0.0</mean>
            <stddev>2e-4</stddev>
            <bias_mean>0.0000075</bias_mean>
            <bias_stddev>0.0000008</bias_stddev>
          </rate>
          <accel>
            <mean>0.0</mean>
            <stddev>1.7e-2</stddev>
            <bias_mean>0.1</bias_mean>
            <bias_stddev>0.001</bias_stddev>
          </accel>
        </noise>
      </imu>
    </sensor>
  </gazebo>
</gazebo>