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