IMU simulator from hector_gazebo_plugins is noisy even when configured to be pristine
Howdy folks,
I am using GazeboRosImu from hector_gazebo_plugins ( http://wiki.ros.org/hector_gazebo_plu... ) 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 (gazebo_ros_imu.cpp) I noticed that the call to Link::GetWorldLinearVel() is noisy and has a bias. Since this linear velocity is differentiated in gazebo_ros_imu.cpp to produce the linear acceleration, it will also be noisy as a result.
Is this normal Gazebo behavior?
Thanks
Galto
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.
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.
Did you figure out the problem? I seem to have the same issue. I'm simulating the sensor on a Dataspeed car.
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.
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