Using launch files with hector_plugins GPS

asked 2014-03-26 04:37:19 -0500

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="libgazebo_ros_control.so"> </plugin>

<plugin name="quadrotor_gps_sim" filename="libhector_gazebo_ros_gps.so">
  <updateRate>4.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>fix</topicName>
  <velocityTopicName>fix_velocity</velocityTopicName>
  <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>

<plugin name="quadrotor_imu_sim" filename="libhector_gazebo_ros_imu.so">
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>raw_imu</topicName>
  <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>
  <headingDrift>0.1</headingDrift>
  <headingGaussianNoise>0.05</headingGaussianNoise>
</plugin>

</gazebo>

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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