IMU simulator from hector_gazebo_plugins is noisy even when configured to be pristine

Howdy folks,

I am using GazeboRosImu from hectorgazeboplugins ( http://wiki.ros.org/hector_gazebo_plugins ) and I noticed that even when I set my biases, drifts, offsets, etc.. all to zero, I still get noisy accelerations passed through.

When digging a little bit into the code (gazeborosimu.cpp) I noticed that the call to Link::GetWorldLinearVel() is noisy and has a bias. Since this linear velocity is differentiated in gazeborosimu.cpp to produce the linear acceleration, it will also be noisy as a result.

Is this normal Gazebo behavior?

Thanks

Galto

Asked by Galto2000 on 2017-08-16 18:22:56 UTC

Comments

Have you got somewhere with this? I have the same problem. I even tried to calculate linear velocity based on the position/dt - still the result is noisy.

Asked by Ago on 2017-09-26 03:16:25 UTC

Not really, but I am planning on posting this question in the Gazebo forum shortly. If I get somewhere with this I'll surely post it here.

Asked by Galto2000 on 2017-09-26 08:08:00 UTC

Did you figure out the problem? I seem to have the same issue. I'm simulating the sensor on a Dataspeed car.

Asked by Salahuddin_Khan on 2017-12-05 02:14:23 UTC

I posted the question in Gazebo Answers but I haven't gotten any replies. I suspect it might be oscillations in the robot-ground collision dynamics. I haven't had much time to dig deeper into it, but if I had, I'd start with reproducing the issue using a simple cube.

Asked by Galto2000 on 2017-12-05 08:34:09 UTC

This problem still persists. I have found that a simple rolling cylinder does not produce this noise, however a simple, four-wheeled cart does. The noise reduces when the mass of the cart body increases with respect to the wheels. Still no idea how to solve it though

Asked by Vianne on 2020-07-20 08:24:27 UTC