#include <gazebo_imu_plugin.h>

Inheritance diagram for gazebo::GazeboImuPlugin:

Public Member Functions
	GazeboImuPlugin ()

void	InitializeParams ()

void	Publish ()

	~GazeboImuPlugin ()

Protected Member Functions
void	AddNoise (Eigen::Vector3d linear_acceleration, Eigen::Vector3d angular_velocity, const double dt)
	This method adds noise to acceleration and angular rates for accelerometer and gyroscope measurement simulation. More...

void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)

void	OnUpdate (const common::UpdateInfo &)
	This gets called by the world update start event. More...

Private Member Functions
void	CreatePubsAndSubs ()
	Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required. More...

Private Attributes
Eigen::Vector3d	accelerometer_bias_

Eigen::Vector3d	accelerometer_turn_on_bias_

std::string	frame_id_

ignition::math::Vector3d	gravity_W_

Eigen::Vector3d	gyroscope_bias_

Eigen::Vector3d	gyroscope_turn_on_bias_

gz_sensor_msgs::Imu	imu_message_
	IMU message. More...

ImuParameters	imu_parameters_

transport::PublisherPtr	imu_pub_

std::string	imu_topic_

common::Time	last_time_

physics::LinkPtr	link_
	Pointer to the link. More...

std::string	link_name_

physics::ModelPtr	model_
	Pointer to the model. More...

std::string	namespace_

transport::NodePtr	node_handle_
	Handle for the Gazebo node. More...

bool	pubs_and_subs_created_
	Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate(). More...

std::default_random_engine	random_generator_

std::normal_distribution< double >	standard_normal_distribution_

event::ConnectionPtr	updateConnection_
	Pointer to the update event connection. More...

ignition::math::Vector3d	velocity_prev_W_

physics::WorldPtr	world_
	Pointer to the world. More...

Detailed Description

Definition at line 97 of file gazebo_imu_plugin.h.

Constructor & Destructor Documentation

◆ GazeboImuPlugin()

gazebo::GazeboImuPlugin::GazeboImuPlugin ( )

Definition at line 40 of file gazebo_imu_plugin.cpp.

◆ ~GazeboImuPlugin()

gazebo::GazeboImuPlugin::~GazeboImuPlugin ( )

Definition at line 46 of file gazebo_imu_plugin.cpp.

Member Function Documentation

◆ AddNoise()

void gazebo::GazeboImuPlugin::AddNoise	(	Eigen::Vector3d *	linear_acceleration,
		Eigen::Vector3d *	angular_velocity,
		const double	dt
	)

protected

This method adds noise to acceleration and angular rates for accelerometer and gyroscope measurement simulation.

Definition at line 213 of file gazebo_imu_plugin.cpp.

◆ CreatePubsAndSubs()

void gazebo::GazeboImuPlugin::CreatePubsAndSubs ( )

private

Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required.

Call this once the first time OnUpdate() is called (can't be called from Load() because there is no guarantee GazeboRosInterfacePlugin has has loaded and listening to ConnectGazeboToRosTopic and ConnectRosToGazeboTopic messages).

Definition at line 340 of file gazebo_imu_plugin.cpp.

◆ InitializeParams()

void gazebo::GazeboImuPlugin::InitializeParams ( )

◆ Load()

void gazebo::GazeboImuPlugin::Load	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf
	)

protected

Definition at line 49 of file gazebo_imu_plugin.cpp.

◆ OnUpdate()

void gazebo::GazeboImuPlugin::OnUpdate ( const common::UpdateInfo & _info )

protected

This gets called by the world update start event.

Calculates IMU parameters and then publishes one IMU message.

Todo:: (burrimi): Add orientation estimator.

Todo:: (burrimi): add noise.

Definition at line 266 of file gazebo_imu_plugin.cpp.

◆ Publish()

void gazebo::GazeboImuPlugin::Publish ( )

Member Data Documentation

◆ accelerometer_bias_

Eigen::Vector3d gazebo::GazeboImuPlugin::accelerometer_bias_

private

Definition at line 170 of file gazebo_imu_plugin.h.

◆ accelerometer_turn_on_bias_

Eigen::Vector3d gazebo::GazeboImuPlugin::accelerometer_turn_on_bias_

private

Definition at line 173 of file gazebo_imu_plugin.h.

◆ frame_id_

std::string gazebo::GazeboImuPlugin::frame_id_

private

Definition at line 141 of file gazebo_imu_plugin.h.

◆ gravity_W_

ignition::math::Vector3d gazebo::GazeboImuPlugin::gravity_W_

private

Definition at line 166 of file gazebo_imu_plugin.h.

◆ gyroscope_bias_

Eigen::Vector3d gazebo::GazeboImuPlugin::gyroscope_bias_

private

Definition at line 169 of file gazebo_imu_plugin.h.

◆ gyroscope_turn_on_bias_

Eigen::Vector3d gazebo::GazeboImuPlugin::gyroscope_turn_on_bias_

private

Definition at line 172 of file gazebo_imu_plugin.h.

◆ imu_message_

gz_sensor_msgs::Imu gazebo::GazeboImuPlugin::imu_message_

private

IMU message.

This is modified everytime OnUpdate() is called,

Definition at line 164 of file gazebo_imu_plugin.h.

◆ imu_parameters_

ImuParameters gazebo::GazeboImuPlugin::imu_parameters_

private

Definition at line 175 of file gazebo_imu_plugin.h.

◆ imu_pub_

transport::PublisherPtr gazebo::GazeboImuPlugin::imu_pub_

private

Definition at line 139 of file gazebo_imu_plugin.h.

◆ imu_topic_

std::string gazebo::GazeboImuPlugin::imu_topic_

private

Definition at line 134 of file gazebo_imu_plugin.h.

◆ last_time_

common::Time gazebo::GazeboImuPlugin::last_time_

private

Definition at line 159 of file gazebo_imu_plugin.h.

◆ link_

physics::LinkPtr gazebo::GazeboImuPlugin::link_

private

Pointer to the link.

Definition at line 154 of file gazebo_imu_plugin.h.

◆ link_name_

std::string gazebo::GazeboImuPlugin::link_name_

private

Definition at line 142 of file gazebo_imu_plugin.h.

◆ model_

physics::ModelPtr gazebo::GazeboImuPlugin::model_

private

Pointer to the model.

Definition at line 151 of file gazebo_imu_plugin.h.

◆ namespace_

std::string gazebo::GazeboImuPlugin::namespace_

private

Definition at line 133 of file gazebo_imu_plugin.h.

◆ node_handle_

transport::NodePtr gazebo::GazeboImuPlugin::node_handle_

private

Handle for the Gazebo node.

Definition at line 137 of file gazebo_imu_plugin.h.

◆ pubs_and_subs_created_

bool gazebo::GazeboImuPlugin::pubs_and_subs_created_

private

Flag that is set to true once CreatePubsAndSubs() is called, used to prevent CreatePubsAndSubs() from be called on every OnUpdate().

Definition at line 124 of file gazebo_imu_plugin.h.

◆ random_generator_

std::default_random_engine gazebo::GazeboImuPlugin::random_generator_

private

Definition at line 144 of file gazebo_imu_plugin.h.

◆ standard_normal_distribution_

std::normal_distribution<double> gazebo::GazeboImuPlugin::standard_normal_distribution_

private

Definition at line 145 of file gazebo_imu_plugin.h.

◆ updateConnection_

event::ConnectionPtr gazebo::GazeboImuPlugin::updateConnection_

private

Pointer to the update event connection.

Definition at line 157 of file gazebo_imu_plugin.h.

◆ velocity_prev_W_

ignition::math::Vector3d gazebo::GazeboImuPlugin::velocity_prev_W_

private

Definition at line 167 of file gazebo_imu_plugin.h.

◆ world_

physics::WorldPtr gazebo::GazeboImuPlugin::world_

private

Pointer to the world.

Definition at line 148 of file gazebo_imu_plugin.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GazeboImuPlugin()

◆ ~GazeboImuPlugin()

Member Function Documentation

◆ AddNoise()

◆ CreatePubsAndSubs()

◆ InitializeParams()

◆ Load()

◆ OnUpdate()

◆ Publish()

Member Data Documentation

◆ accelerometer_bias_

◆ accelerometer_turn_on_bias_

◆ frame_id_

◆ gravity_W_

◆ gyroscope_bias_

◆ gyroscope_turn_on_bias_

◆ imu_message_

◆ imu_parameters_

◆ imu_pub_

◆ imu_topic_

◆ last_time_

◆ link_

◆ link_name_

◆ model_

◆ namespace_

◆ node_handle_

◆ pubs_and_subs_created_

◆ random_generator_

◆ standard_normal_distribution_

◆ updateConnection_

◆ velocity_prev_W_

◆ world_