Gazebo sensor plugins for barometric pressure Sensor with geometry_msgs/PointStamped?

asked 2021-09-30 03:35:28 -0600

Astronaut gravatar image

I`m doing some underwater UUV Gazebo simulation and would like to use the hector_pose_estimationhector_pose_estimation package to fuse IMU and Fluid pressure sensors input for pose estimation. But when running the node I got ERROR

Client [/hector_pose_estimation] wants topic /rexrov2/pressure to have datatype/md5sum [geometry_msgs/PointStamped/c63aecb41bfdfd6b7e1fac37c7cbe7bf], but our version has [sensor_msgs/FluidPressure/804dc5cea1c5306d6a2eb80b9833befe]. Dropping connection.

So my Pressure Sensor has sensor_msgs/FluidPressure but the package wants pressure_height (geometry_msgs/PointStamped) as input. Any help where can find urdf xacro and gazebo ros plugins for barometric pressure with geometry_msgs/PointStamped?

Thanks

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Comments

FluidPressure is water pressure, and the pressure_height is altitude derived from air pressure? You could interject a ros node to convert water pressure to depth below water, then pass that as a negative altitude in PointStamped form to hector, and see if that works. Maybe there are other underwater hector projects too look into?

lucasw gravatar image lucasw  ( 2021-09-30 08:58:00 -0600 )edit

Im not sure the pressure_height is altitude derived from air pressure . I know that hector_pose_estimation package need pressure_height (geometry_msgs/PointStamped), Altitude from barometric pressure as input topic. . How to convert water pressure to depth below water?

Astronaut gravatar image Astronaut  ( 2021-09-30 12:29:15 -0600 )edit

How to convert water pressure to depth below water?

You might be better off asking in forum/stack devoted to ocean engineering or marine robotics (though possibly there is an off-the-shelf ros package that does the calculation).

Something like this doesn't look that difficult to duplicate in python/C++: https://bluerobotics.com/learn/pressu...

lucasw gravatar image lucasw  ( 2021-09-30 14:59:19 -0600 )edit