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gaussian noise param for gazebo_ros_imu

asked 2019-10-15 20:36:18 -0600

mugetsu gravatar image

what are the units of gaussianNoise here:

  <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu</topicName>
        <bodyName>imu_link</bodyName>
        <updateRateHZ>10.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>base_link</frameName>
      </plugin>

my imu doc tells me it has a Noise Density:< 0.14 mg/√Hz, how do I translate that to this plugin?

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answered 2019-10-15 21:01:12 -0600

The answer is its the sigma (standard deviation) so its unitless.

https://github.com/ros-simulation/gaz...

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Asked: 2019-10-15 20:36:18 -0600

Seen: 10 times

Last updated: Oct 15