ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Ok, I found the problem. When I write the description, I use one ghost base_footprint in the bottom of the robot to use it for transformations (all tf refering that point) and when I use base_link as canonical body the plugins go wrong.

the change is:

<gazebo>      
  <controller:hector_gazebo_ros_gps name="quadrotor_gps_sim" plugin="libhector_gazebo_ros_test.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>4.0</updateRate>
    <bodyName>base_footprint</bodyName>
    <topicName>fix</topicName>
    <velocityTopicName>fix_vel</velocityTopicName>
    <drift>5.0 5.0 5.0</drift>
    <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
    <velocityDrift>0 0 0</velocityDrift>
    <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
    <!--interface:position name="gps_position"/-->
  </controller:hector_gazebo_ros_gps>
</gazebo>

Now, I get the topic fix and fix_velocity very well