Changelog for package hector_gazebo_plugins

0.3.8 (2016-06-24)

hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
Fix compilation errors and warnings against Gazebo 7
Fix
Compatible with gazebo7
[hector_gazebo_plugins] fix missing dependencies
Update odometry with proper covariance data
Updates to 2d odom
Basics of 2d odom
Add gitignore
Add Cmake flags for C++11
Make force based p gains parameters
Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
Contributors: Johannes Meyer, kohlbrecher

allow negative offsets in SensorModel dynamic_reconfigure config
fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
Contributors: Johannes Meyer

fixed simulated IMU calibration
fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
added dynamic_reconfigure server for IMU sensor model parameters
fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
added initial bias
added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
fixed wrong calculation of reference earth magnetic field vector if declination!=0
Contributors: Johannes Meyer

replaced old copied license header in servo_plugin.cpp
simplified attitude error calculation in gazebo_ros_imu (fixes #12)
fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
linking against catkin_libraries
Contributors: Johannes Meyer, Markus Achtelik

diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
Add servo plugin (used for vision box currently)
Add catkin_LIBRARIES to linking for multiwheel plugin
Some fixes to make diffdrive_plugin_multi_wheel work properly
Work in progress of a diffdrive plugin supporting multiple wheels per side
used updated API to get rid of warnings
added topicName parameter back to gazebo_ros_magnetic
hector_gazebo: deleted deprecated export sections from package.xml files
abort with a fatal error if ROS is not yet initialized + minor code cleanup
Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
removed warnings due to deprecated sdf API calls