update the models

Author: aquintan4

CustomRobots/turtlebot3/models/turtlebot3_noisy_high/model.sdf

@@ -557,12 +557,15 @@
     </plugin>
 
     <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-      <linear_noise_std_dev>0.01</linear_noise_std_dev>
-      <angular_noise_std_dev>0.01</angular_noise_std_dev>
-      <ros_topic>turtlebot3/odom_noisy</ros_topic>
-      <gz_cmd_vel_topic>turtlebot3/cmd_vel</gz_cmd_vel_topic>
+      <ros_topic>/turtlebot3/odom_noisy</ros_topic>
+      <gz_cmd_vel_topic>/turtlebot3/cmd_vel</gz_cmd_vel_topic>
       <frame_id>odom</frame_id>
       <child_frame_id>base_footprint</child_frame_id>
+
+      <alpha1>0.05</alpha1>
+      <alpha2>0.05</alpha2>
+      <alpha3>0.03</alpha3>
+      <alpha4>0.03</alpha4>
     </plugin>
 
   </model>

CustomRobots/turtlebot3/models/turtlebot3_noisy_low/model.sdf

@@ -557,12 +557,15 @@
     </plugin>
 
     <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-      <linear_noise_std_dev>0.01</linear_noise_std_dev>
-      <angular_noise_std_dev>0.01</angular_noise_std_dev>
-      <ros_topic>turtlebot3/odom_noisy</ros_topic>
-      <gz_cmd_vel_topic>turtlebot3/cmd_vel</gz_cmd_vel_topic>
+      <ros_topic>/turtlebot3/odom_noisy</ros_topic>
+      <gz_cmd_vel_topic>/turtlebot3/cmd_vel</gz_cmd_vel_topic>
       <frame_id>odom</frame_id>
       <child_frame_id>base_footprint</child_frame_id>
+
+      <alpha1>0.005</alpha1>
+      <alpha2>0.005</alpha2>
+      <alpha3>0.002</alpha3>
+      <alpha4>0.002</alpha4>
     </plugin>
 
   </model>

CustomRobots/turtlebot3/models/turtlebot3_noisy_med/model.sdf

@@ -557,12 +557,15 @@
     </plugin>
 
     <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-      <linear_noise_std_dev>0.01</linear_noise_std_dev>
-      <angular_noise_std_dev>0.01</angular_noise_std_dev>
-      <ros_topic>turtlebot3/odom_noisy</ros_topic>
-      <gz_cmd_vel_topic>turtlebot3/cmd_vel</gz_cmd_vel_topic>
+      <ros_topic>/turtlebot3/odom_noisy</ros_topic>
+      <gz_cmd_vel_topic>/turtlebot3/cmd_vel</gz_cmd_vel_topic>
       <frame_id>odom</frame_id>
       <child_frame_id>base_footprint</child_frame_id>
+
+      <alpha1>0.02</alpha1>
+      <alpha2>0.02</alpha2>
+      <alpha3>0.01</alpha3>
+      <alpha4>0.01</alpha4>
     </plugin>
 
   </model>