Providing a link between gazebo plugins and base_link in the robot model [closed]

asked 2016-05-11 08:41:16 -0500

MahsaP gravatar image

Hi,

I have added the following plugins to my .gazebo file. When I do rostopic echo for all the topics, all the information about poses are updated. My problem is that when I do "rosrun tf view_frames", there is no link between odom and base_link. I would like to update the information of what I got from Gazebo into rviz tf tree. So, do I need to add some tags to the plugins in .gazebo file? Or do I need to add some links in the urdf file?

<gazebo> 
<!-- GPS plugin -->
<plugin name="robot_gps_sim" filename="libhector_gazebo_ros_gps.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>4.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>gps</topicName>
  <velocityTopicName>gps_velocity</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>
</plugin>

<!-- Groundtruth plugin -->
<plugin name="robot_groundtruth_sim" filename="libgazebo_ros_p3d.so">
  <alwaysOn>true</alwaysOn>
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>odom</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>map</frameName>
  <xyzOffsets>0 0 0</xyzOffsets>
  <rpyOffsets>0 0 0</rpyOffsets>
</plugin> 

<!-- IMU plugin -->
<plugin name="robot_imu_sim" filename="libhector_gazebo_ros_imu.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>100.0</updateRate> 
    <bodyName>base_link</bodyName>
    <frameID>robot_link1</frameID>
    <topicName>robot/IMU</topicName>
    <xyzOffset>0.0 0.0 0.0</xyzOffset>
    <rpyOffset>0.0 0.0 0.0</rpyOffset>
    <gaussianNoise>0</gaussianNoise>
    <accelDrift>0.5 0.5 0.5</accelDrift>
    <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
    <rateDrift>0.0 0.0 0.0</rateDrift>
    <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
    <headingDrift>0.0</headingDrift>
    <headingGaussianNoise>0.00</headingGaussianNoise>
</plugin> 
</gazebo>

Thank you.

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Closed for the following reason duplicate question by mgruhler
close date 2016-05-11 08:46:33.818833

Comments

@MahsaP: please do not double-post.

Duplicate of http://answers.ros.org/question/23404...

mgruhler gravatar imagemgruhler ( 2016-05-11 08:46:28 -0500 )edit

@mig OK. But, this question can be answered differently.

MahsaP gravatar imageMahsaP ( 2016-05-11 08:58:25 -0500 )edit

@MahsaP you think so? Well, then feel free to reopen, but it seemed pretty the same to me ;-) Especially as the other has not been answered yet and contains more information...

mgruhler gravatar imagemgruhler ( 2016-05-11 09:08:55 -0500 )edit

@mig ok I will wait for the other post.

MahsaP gravatar imageMahsaP ( 2016-05-11 09:15:20 -0500 )edit