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Added IMU

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This commit is contained in:
wittenator 2023-11-02 21:20:16 +01:00
parent 1a1a93d8bb
commit 42f6ddc6ba
5 changed files with 21 additions and 1 deletions
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12
src/dcaiti_control/description/imu.xacro Normal file
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@ -0,0 +1,12 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
<gazebo reference="laser_frame">
<material>Gazebo/Red</material>
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>/lidar/imu</topic>
</sensor>
</gazebo>
</robot>

1
src/dcaiti_control/description/robot.urdf.xacro
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@ -57,5 +57,6 @@
<xacro:include filename="robot_core.xacro" /> <xacro:include filename="robot_core.xacro" />
<xacro:include filename="bbox_camera.xacro" /> <xacro:include filename="bbox_camera.xacro" />
<xacro:include filename="lidar.xacro" /> <xacro:include filename="lidar.xacro" />
<xacro:include filename="imu.xacro" />
</robot> </robot>

3
src/dcaiti_control/launch/launch_sim.py
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@ -63,7 +63,8 @@ def generate_launch_description():
'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
'/boxes@vision_msgs/msg/Detection2DArray@ignition.msgs.AnnotatedAxisAligned2DBox_V', '/boxes@vision_msgs/msg/Detection2DArray@ignition.msgs.AnnotatedAxisAligned2DBox_V',
'/lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan', '/lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
'/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked' '/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked',
'lidar/imu@sensor_msgs/msg/Imu@gz.msgs.IMU'
], ],
output='screen' output='screen'
) )

3
src/dcaiti_control/worlds/empty.sdf.template
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@ -29,6 +29,9 @@
filename="ignition-gazebo-contact-system" filename="ignition-gazebo-contact-system"
name="gz::sim::systems::Contact"> name="gz::sim::systems::Contact">
</plugin> </plugin>
<plugin filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
</plugin>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors"> <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine> <render_engine>ogre2</render_engine>
</plugin> </plugin>

3
src/dcaiti_control/worlds/generated_worlds/AU2_skidpad.sdf
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@ -29,6 +29,9 @@
filename="ignition-gazebo-contact-system" filename="ignition-gazebo-contact-system"
name="gz::sim::systems::Contact"> name="gz::sim::systems::Contact">
</plugin> </plugin>
<plugin filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
</plugin>
<plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors"> <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine> <render_engine>ogre2</render_engine>
</plugin> </plugin>