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magnetic field sensor in gazebo?

asked 2012-01-06 05:08:47 -0500

hmmm gravatar image

updated 2014-01-28 17:11:05 -0500

ngrennan gravatar image

hi all, how can i modell a magnetic field sensor in Gazebo?? Can anybody please help me?

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answered 2012-01-06 05:35:04 -0500

You can use the gazebo_ros_p3d plugin to retrieve ground truth pose data. Depending on your needs you might want to increase gaussian noise, or write your own plugin based on gazebo_ros_p3d (if you need a more sophisticated error model than gaussian noise).

  <controller:gazebo_ros_p3d name="quadro_groundtruth_sim" plugin="libgazebo_ros_p3d.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>100.0</updateRate>
    <bodyName>quadrotor_base</bodyName>
    <topicName>ground_truth_pose</topicName>
    <gaussianNoise>0.0</gaussianNoise>
    <frameName>map</frameName>
    <interface:position name="my_box_p3d_position_iface" />
  </controller:gazebo_ros_p3d>
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@Stefan Kohlbrecher : Is there any list for such gazebo plugins ? Any website/ link you may refer me to ?
Arkapravo gravatar imageArkapravo ( 2012-01-06 06:15:32 -0500 )edit
hi,where is the difference between this plugin and gazebo_ros_imu plugin???And where do i get the magnetic field data in tesla unit??
hmmm gravatar imagehmmm ( 2012-01-06 07:07:32 -0500 )edit
@Arkapravo Have a look at http://www.ros.org/wiki/gazebo_plugins . All that will probably change significantly with the new Fuerte ROS version though, as gazebo and it's plugin architecture will receive a major upgrade.
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2012-01-06 07:35:14 -0500 )edit
@mukmuk. Actually, for the purpose of simulating magnetic field sensors, both provide viable attitude data (the gazebo_ros_p3d plugin however outputs ground truth translation too). I'm not aware of a plugin providing data in tesla, you could generate something like that from attitude data though.
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2012-01-06 07:40:11 -0500 )edit
@stefan , thanks. ps:hey kann ich dich über email anschreiben?thema:quadrokopter
hmmm gravatar imagehmmm ( 2012-01-06 08:06:16 -0500 )edit
@mukmuk: Yes, you can ;)
Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2012-01-06 10:40:21 -0500 )edit

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Asked: 2012-01-06 05:08:47 -0500

Seen: 614 times

Last updated: Jan 06 '12