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IMU model in gazebo

asked 2013-01-26 20:42:04 -0500

pranav gravatar image

updated 2014-04-20 14:09:27 -0500

ngrennan gravatar image

Hello! I had installed hector gazebo plugins using the command "sudo apt-get install ros-fuerte-hector-gazebo" . I want to model a working IMU.Since I am a beginner , can anyone explain the process that i must follow to create a bot model with an IMU in ROS or gazebo?

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answered 2013-02-07 01:08:46 -0500

remlog gravatar image

If you want to model a IMU in gazebo is just to insert the next code in the joint where you want to have the IMU and a gazebo topics will be published,

<sensor name='Vilma_IMU' type='imu'>
<pose>0 0.000000 0.5 0.000000 -0.000000 0.000000</pose>
    <imu>
      <topic>__default_topic__</topic>
    </imu>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    </sensor>
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hector_gazebo_plugins does not use the IMU sensor implemented in recent Gazebo versions. You can directly add it as a model plugin without the <sensor> tag, similar to the original gazebo_ros_imu plugin in package gazebo_plugins. hector_quadrotor_gazebo contains a urdf description that uses the IMU.

Johannes Meyer gravatar imageJohannes Meyer ( 2013-05-25 10:56:39 -0500 )edit

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Asked: 2013-01-26 20:42:04 -0500

Seen: 1,792 times

Last updated: Feb 07 '13