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Published 20 hours ago • verified publisher icon ZebraDevs

Simulated IMU

Open ruffsl opened this issue 7 years ago • 3 comments

I was testing out this package with gazebo and noticed that there was no imu messages being publish like for the real platform: http://docs.fetchrobotics.com/robot_hardware.html#imu

It'd be nice in general to add the IMUs in the gazebo models so I could test out projects like cartographer that use senors fusion with IMUs in simulation. I suppose I could do a PR, but I'm not sure of the IMUs' origin wrt the robot's baselink and arm link.

ruffsl avatar Nov 10 '16 01:11 ruffsl

Related issue pending on this enhancement: https://github.com/googlecartographer/cartographer_fetch/issues/2#event-941048389

ruffsl avatar Feb 01 '17 05:02 ruffsl

Sorry @ruffsl this issue has been neglected a long time.

It's still very low priority but I've tagged @erelson and @ajzeller because they should be able to get the IMUs' origin wrt the robot's base link.

moriarty avatar Apr 05 '19 20:04 moriarty

For future reference, internal ticket: HP-2127

If anyone wants to make a PR with dummy values, demonstrating what components of the URDF the they think the IMUs should be linked to, that may make this happen sooner :)

erelson avatar Apr 08 '19 19:04 erelson