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I think I've figured this one out. A lot of plugins accept a parameter for the tf frame. All I had to do was add the frameId tag. Like this:
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<robotNamespace>/husky1</robotNamespace>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<frameId>husky1/base_link</frameId>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>