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aquintan4aquintan4
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add more noise
1 parent b77d45c commit 0dbcfbc

2 files changed

Lines changed: 10 additions & 10 deletions

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‎CustomRobots/roomba_robot/models/roombaROS/model.sdf‎

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</plugin>
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<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
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<ros_topic>/roombaROS/odom_noisy</ros_topic>
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<ros_topic>/odom_noisy</ros_topic>
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<gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
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<frame_id>odom</frame_id>
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<child_frame_id>base</child_frame_id>
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<alpha1>0.005</alpha1>
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<alpha2>0.005</alpha2>
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<alpha3>0.0025</alpha3>
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<alpha4>0.0025</alpha4>
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<alpha1>0.01</alpha1>
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<alpha2>0.01</alpha2>
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<alpha3>0.005</alpha3>
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<alpha4>0.005</alpha4>
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</plugin>
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</model>

‎CustomRobots/roomba_robot/models/roombaROS_cam/model.sdf‎

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</plugin>
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<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
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<ros_topic>/roombaROS/odom_noisy</ros_topic>
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<ros_topic>/odom_noisy</ros_topic>
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<gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
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<frame_id>odom</frame_id>
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<child_frame_id>base</child_frame_id>
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<alpha1>0.005</alpha1>
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<alpha2>0.005</alpha2>
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<alpha3>0.0025</alpha3>
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<alpha4>0.0025</alpha4>
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<alpha1>0.01</alpha1>
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<alpha2>0.01</alpha2>
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<alpha3>0.005</alpha3>
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<alpha4>0.005</alpha4>
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</plugin>
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</model>

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