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GazeboRosIMU controller. More...
Classes | |
class | gazebo::GazeboRosIMU |
GazeboRosIMU controller. More... |
GazeboRosIMU controller.
This controller requires to a model as its parent. The plugin broadcasts a body's pose and rates through ROS sensor_msgs::Imu message. In the example below, the plubin broadcasts pose and rate of a body named body_name over ROS topic name body_pose_groud_truth.
Example Usage:
<model:physical name="some_fancy_model"> <controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so"> <alwaysOn>true</alwaysOn> <updateRate>1000.0</updateRate> <bodyName>body_name</bodyName> <topicName>body_pose_ground_truth</topicName> <xyzOffsets>25.65 25.65 0</xyzOffsets> <!-- option to initialize odometry for fake localization--> <rpyOffsets>0 0 0</rpyOffsets> <interface:position name="imu_position_iface"/> </controller:gazebo_ros_imu> </model:phyiscal>