Using launch files with hector_plugins GPS
I'm very new to ROS and I'm trying to add GPS to my ackermannvehicle simulation. I've git clone'd the hectorplugins (Couldn't add the link because my 'karma' wasn't high enough) and utilized the example set in hector_quadrotor to modify my urdf file for my ackermann vehicle by adding the following:
<plugin name="quadrotor_gps_sim" filename="libhector_gazebo_ros_gps.so">
<updateRate>4.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<gaussianNoise>0.01 0.01 0.01</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>
</plugin>
<plugin name="quadrotor_imu_sim" filename="libhector_gazebo_ros_imu.so">
<updateRate>100.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>raw_imu</topicName>
<rpyOffsets>0 0 0</rpyOffsets> <!-- deprecated -->
<gaussianNoise>0</gaussianNoise> <!-- deprecated -->
<accelDrift>0.5 0.5 0.5</accelDrift>
<accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
<rateDrift>0.1 0.1 0.1</rateDrift>
<rateGaussianNoise>0.05 0.05 0.015</rateGaussianNoise>
<headingDrift>0.1</headingDrift>
<headingGaussianNoise>0.05</headingGaussianNoise>
</plugin>
Gazebo launches with no errors, but I'm also not seeing any new nodes(hectorgazeborosgps) or topics (NavSatFix). I realized this morning I need to make sure the nodes are created in the launch file for my ackermannvehicle (that calls my URDF file above). My problem is the tutorials provided (wiki) and the example carried out in hectorquadrotor aren't calling 3rd party plugin packages - so I'm at a bit of a loss. The hectorgazebo_plugins only appears to produce libraries, not any executable so I'm puzzled as how to start a node.
Asked by VTNewb on 2014-03-26 04:37:19 UTC
Comments
Any updates on this? I think the problem is not with the nodes in launch files, but rather related to GAZEBO_PLUGIN_PATH. Because when I use the standard gazebo plugin for imu, I see the /imu topic. But when I use the hector imu plugin or gps etc it does not show up. I will try changing the plugin path...
Asked by beluga on 2022-03-25 06:42:54 UTC