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Simulate GPS sensor via ROS (Hector_Plugins)

Hi, I am new to ROS I'm trying to simulate some realistic sensors with noise, drift and bias on a DBW car. I have used the following code to simulate an IMU .

<gazebo reference="${name}">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
  <always_on>true</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>__default_topic__</topic>
  <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>imu_link</frameName>
  </plugin> 

</sensor>

</gazebo>

and I'd be grateful if someone could help me out with GPS , I've already downloaded the Hector Plugins (http://wiki.ros.org/hector_gazebo_plugins) but I'm not sure how to modify the code to use those plugins.

Thank You, Sal.

Simulate GPS sensor via ROS (Hector_Plugins)

Hi, I am new to ROS I'm trying to simulate some realistic sensors with noise, drift and bias on a DBW car. I have used the following code to simulate an IMU .

<gazebo reference="${name}">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
  <always_on>true</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>__default_topic__</topic>
  <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>imu_link</frameName>
  </plugin> 

</sensor>

</gazebo>

and I'd be grateful if someone could help me out with GPS , I've already downloaded the Hector Plugins (http://wiki.ros.org/hector_gazebo_plugins) but I'm not sure how to modify the code to use those plugins.

Thank You, Sal.

Simulate GPS sensor via ROS (Hector_Plugins)

Hi, I am new to ROS I'm trying to simulate some realistic sensors with noise, drift and bias on a DBW car. I have used the following code to simulate an IMU .

<gazebo reference="${name}">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
  <always_on>true</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>__default_topic__</topic>
  <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>imu_link</frameName>
  </plugin> 

</sensor>

</gazebo>

and I'd be grateful if someone could help me out with GPS , I've already downloaded the Hector Plugins (http://wiki.ros.org/hector_gazebo_plugins) but I'm not sure how to modify the code to use those plugins.

Thank You, Sal.

click to hide/show revision 4
None

Simulate GPS sensor via ROS plugins (Hector_Plugins)

Hi, I am new to ROS I'm trying to simulate some realistic sensors with noise, drift and bias on a DBW car. I have used the following code to simulate an IMU .

<gazebo reference="${name}">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
  <always_on>true</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>__default_topic__</topic>
  <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>imu_link</frameName>
  </plugin> 

</sensor>
</gazebo>

</gazebo>

and I'd be grateful if someone could help me out with GPS , I've already downloaded the Hector Plugins (http://wiki.ros.org/hector_gazebo_plugins) but I'm not sure how to modify the code to use those plugins.

Thank You, Sal.

click to hide/show revision 5
None

Simulate GPS sensor via ROS plugins (Hector_Plugins)

Hi, I am new to ROS I'm trying to simulate some realistic sensors with noise, drift and bias on a DBW car. I have used the following code to simulate an IMU .

<gazebo reference="${name}">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
  <always_on>true</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>__default_topic__</topic>
  <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>imu_link</frameName>
  </plugin> 

</sensor>
</gazebo>

and I'd be grateful if someone could help me out with GPS , I've already downloaded the Hector Plugins (http://wiki.ros.org/hector_gazebo_plugins) but I'm not sure how to modify the code to use those plugins.

Thank You, Sal.