Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I don't know about pressure sensors, but in order to get accelerometers and rotational rates you can use IMU sensor plugin, by adding to your URDF file the following block :

<!--IMU : joint , link , sensor  -->
 <joint name="IMU_joint" type="fixed">
    <axis xyz="1 0 0"/>      
    <origin xyz="0 0 0.105"/>
    <parent link="base_link"/>
    <child link="IMU_link"/>
<link name="IMU_link">
    <mass value="0.001"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
      <box size="0.01 0.01 0.01"/>
    <material name="red"/>  
    <origin rpy="0 0 0" xyz="0 0 0"/>
      <box size=".01 .01 .01"/>
  <controller:gazebo_ros_imu name="dany_car_IMU_controller" plugin="">
    <xyzOffsets>0 0 0</xyzOffsets>
    <rpyOffsets>0 0 0</rpyOffsets>
    <interface:position name="imu_position"/>