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

asked 2017-08-16 18:22:56 -0600

Galto2000 gravatar image

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

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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.

Ago gravatar imageAgo ( 2017-09-26 03:16:25 -0600 )edit

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.

Galto2000 gravatar imageGalto2000 ( 2017-09-26 08:08:00 -0600 )edit

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

Salahuddin_Khan gravatar imageSalahuddin_Khan ( 2017-12-05 01:14:23 -0600 )edit

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.

Galto2000 gravatar imageGalto2000 ( 2017-12-05 07:34:09 -0600 )edit