Merge pull request #687 from JdeRobot/Add-more-noise

Add more noise to odom

Author: javizqh

CustomRobots/roomba_robot/models/roombaROS/model.sdf

@@ -463,7 +463,7 @@
     <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
       <odom_topic>/roombaROS/odom_noisy</odom_topic>
       <robot_base_frame>base</robot_base_frame>
-      <odom_frame>odom</odom_frame>
+      <odom_frame>odom_noisy</odom_frame>
       <odom_publish_frequency>20</odom_publish_frequency>
       <dimensions>3</dimensions>
       <gaussian_noise>0.01</gaussian_noise>

CustomRobots/roomba_robot/models/roombaROS_cam/model.sdf

@@ -631,7 +631,7 @@
     <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
       <odom_topic>/roombaROS/odom_noisy</odom_topic>
       <robot_base_frame>base</robot_base_frame>
-      <odom_frame>odom</odom_frame>
+      <odom_frame>odom_noisy</odom_frame>
       <odom_publish_frequency>20</odom_publish_frequency>
       <dimensions>3</dimensions>
       <gaussian_noise>0.01</gaussian_noise>

CustomRobots/turtlebot3/models/turtlebot3_noisy_high/model.sdf

@@ -559,10 +559,10 @@
     <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
       <odom_topic>turtlebot3/odom_noisy</odom_topic>
       <robot_base_frame>base_footprint</robot_base_frame>
-      <odom_frame>odom</odom_frame>
+      <odom_frame>odom_noisy</odom_frame>
       <odom_publish_frequency>50</odom_publish_frequency>
       <dimensions>3</dimensions>
-      <gaussian_noise>0.06</gaussian_noise>
+      <gaussian_noise>6</gaussian_noise>
     </plugin>
   </model>
 

CustomRobots/turtlebot3/models/turtlebot3_noisy_low/model.sdf

@@ -559,7 +559,7 @@
     <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
       <odom_topic>turtlebot3/odom_noisy</odom_topic>
       <robot_base_frame>base_footprint</robot_base_frame>
-      <odom_frame>odom</odom_frame>
+      <odom_frame>odom_noisy</odom_frame>
       <odom_publish_frequency>50</odom_publish_frequency>
       <dimensions>3</dimensions>
       <gaussian_noise>0.01</gaussian_noise>

CustomRobots/turtlebot3/models/turtlebot3_noisy_med/model.sdf

@@ -559,7 +559,7 @@
     <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
       <odom_topic>turtlebot3/odom_noisy</odom_topic>
       <robot_base_frame>base_footprint</robot_base_frame>
-      <odom_frame>odom</odom_frame>
+      <odom_frame>odom_noisy</odom_frame>
       <odom_publish_frequency>50</odom_publish_frequency>
       <dimensions>3</dimensions>
       <gaussian_noise>0.03</gaussian_noise>