Using launch files with hector_plugins GPS

asked 2014-03-26 04:37:19 -0600

VTNewb gravatar image

I'm very new to ROS and I'm trying to add GPS to my ackermann_vehicle simulation. I've git clone'd the hector_plugins (Couldn't add the link because my 'karma' wasn't high enough) and utilized the example set in hector_quadrotor to modify my urdf file for my ackermann vehicle by adding the following:

<gazebo> <plugin name="gazebo_ros_control" filename=""> </plugin>

<plugin name="quadrotor_gps_sim" filename="">
  <drift>5.0 5.0 5.0</drift>
  <gaussianNoise>0.01 0.01 0.01</gaussianNoise>
  <velocityDrift>0 0 0</velocityDrift>
  <velocityGaussianNoise>0.05 0.05 0.05</velocityGaussianNoise>

<plugin name="quadrotor_imu_sim" filename="">
  <rpyOffsets>0 0 0</rpyOffsets> <!-- deprecated -->
  <gaussianNoise>0</gaussianNoise>  <!-- deprecated -->
  <accelDrift>0.5 0.5 0.5</accelDrift>
  <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
  <rateDrift>0.1 0.1 0.1</rateDrift>
  <rateGaussianNoise>0.05 0.05 0.015</rateGaussianNoise>


Gazebo launches with no errors, but I'm also not seeing any new nodes(hector_gazebo_ros_gps) or topics (NavSatFix). I realized this morning I need to make sure the nodes are created in the launch file for my ackermann_vehicle (that calls my URDF file above). My problem is the tutorials provided (wiki) and the example carried out in hector_quadrotor aren't calling 3rd party plugin packages - so I'm at a bit of a loss. The hector_gazebo_plugins only appears to produce libraries, not any executable so I'm puzzled as how to start a node.

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Any updates on this? I think the problem is not with the nodes in launch files, but rather related to GAZEBO_PLUGIN_PATH. Because when I use the standard gazebo plugin for imu, I see the /imu topic. But when I use the hector imu plugin or gps etc it does not show up. I will try changing the plugin path...

beluga gravatar image beluga  ( 2022-03-25 06:42:54 -0600 )edit