#include <gazebo_imu_plugin.h>
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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...
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void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
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void | OnUpdate (const common::UpdateInfo &) |
| This gets called by the world update start event. More...
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void | CreatePubsAndSubs () |
| Creates all required publishers and subscribers, incl. routing of messages to/from ROS if required. More...
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Definition at line 97 of file gazebo_imu_plugin.h.
◆ GazeboImuPlugin()
gazebo::GazeboImuPlugin::GazeboImuPlugin |
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◆ ~GazeboImuPlugin()
gazebo::GazeboImuPlugin::~GazeboImuPlugin |
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◆ AddNoise()
void gazebo::GazeboImuPlugin::AddNoise |
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Eigen::Vector3d * |
linear_acceleration, |
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Eigen::Vector3d * |
angular_velocity, |
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const double |
dt |
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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 |
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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 |
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◆ Load()
void gazebo::GazeboImuPlugin::Load |
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physics::ModelPtr |
_model, |
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sdf::ElementPtr |
_sdf |
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◆ OnUpdate()
void gazebo::GazeboImuPlugin::OnUpdate |
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const common::UpdateInfo & |
_info | ) |
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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 |
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◆ accelerometer_bias_
Eigen::Vector3d gazebo::GazeboImuPlugin::accelerometer_bias_ |
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◆ accelerometer_turn_on_bias_
Eigen::Vector3d gazebo::GazeboImuPlugin::accelerometer_turn_on_bias_ |
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◆ frame_id_
std::string gazebo::GazeboImuPlugin::frame_id_ |
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◆ gravity_W_
ignition::math::Vector3d gazebo::GazeboImuPlugin::gravity_W_ |
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◆ gyroscope_bias_
Eigen::Vector3d gazebo::GazeboImuPlugin::gyroscope_bias_ |
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◆ gyroscope_turn_on_bias_
Eigen::Vector3d gazebo::GazeboImuPlugin::gyroscope_turn_on_bias_ |
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◆ imu_message_
gz_sensor_msgs::Imu gazebo::GazeboImuPlugin::imu_message_ |
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◆ imu_parameters_
◆ imu_pub_
transport::PublisherPtr gazebo::GazeboImuPlugin::imu_pub_ |
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◆ imu_topic_
std::string gazebo::GazeboImuPlugin::imu_topic_ |
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◆ last_time_
common::Time gazebo::GazeboImuPlugin::last_time_ |
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◆ link_
physics::LinkPtr gazebo::GazeboImuPlugin::link_ |
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◆ link_name_
std::string gazebo::GazeboImuPlugin::link_name_ |
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◆ model_
physics::ModelPtr gazebo::GazeboImuPlugin::model_ |
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◆ namespace_
std::string gazebo::GazeboImuPlugin::namespace_ |
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◆ node_handle_
transport::NodePtr gazebo::GazeboImuPlugin::node_handle_ |
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◆ pubs_and_subs_created_
bool gazebo::GazeboImuPlugin::pubs_and_subs_created_ |
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◆ random_generator_
std::default_random_engine gazebo::GazeboImuPlugin::random_generator_ |
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◆ standard_normal_distribution_
std::normal_distribution<double> gazebo::GazeboImuPlugin::standard_normal_distribution_ |
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◆ updateConnection_
◆ velocity_prev_W_
ignition::math::Vector3d gazebo::GazeboImuPlugin::velocity_prev_W_ |
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◆ world_
physics::WorldPtr gazebo::GazeboImuPlugin::world_ |
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The documentation for this class was generated from the following files:
rotors_gazebo_plugins
Author(s): Fadri Furrer, Michael Burri, Mina Kamel, Janosch Nikolic, Markus Achtelik
autogenerated on Mon Feb 28 2022 23:39:04