Skip to content

Commit 9ec6ef4

Browse files
aquintan4aquintan4
committed
add plugin to roomba_robot models
1 parent ea0632f commit 9ec6ef4

2 files changed

Lines changed: 20 additions & 14 deletions

File tree

‎CustomRobots/roomba_robot/models/roombaROS/model.sdf‎

Lines changed: 10 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -460,13 +460,16 @@
460460
<dimensions>3</dimensions>
461461
</plugin>
462462

463-
<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
464-
<odom_topic>/roombaROS/odom_noisy</odom_topic>
465-
<robot_base_frame>base</robot_base_frame>
466-
<odom_frame>odom_noisy</odom_frame>
467-
<odom_publish_frequency>20</odom_publish_frequency>
468-
<dimensions>3</dimensions>
469-
<gaussian_noise>0.01</gaussian_noise>
463+
<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
464+
<ros_topic>/roombaROS/odom_noisy</ros_topic>
465+
<gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
466+
<frame_id>odom</frame_id>
467+
<child_frame_id>base_footprint</child_frame_id>
468+
469+
<alpha1>0.002</alpha1>
470+
<alpha2>0.002</alpha2>
471+
<alpha3>0.001</alpha3>
472+
<alpha4>0.001</alpha4>
470473
</plugin>
471474

472475
</model>

‎CustomRobots/roomba_robot/models/roombaROS_cam/model.sdf‎

Lines changed: 10 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -628,13 +628,16 @@
628628
<dimensions>3</dimensions>
629629
</plugin>
630630

631-
<plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
632-
<odom_topic>/roombaROS/odom_noisy</odom_topic>
633-
<robot_base_frame>base</robot_base_frame>
634-
<odom_frame>odom_noisy</odom_frame>
635-
<odom_publish_frequency>20</odom_publish_frequency>
636-
<dimensions>3</dimensions>
637-
<gaussian_noise>0.01</gaussian_noise>
631+
<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
632+
<ros_topic>/roombaROS/odom_noisy</ros_topic>
633+
<gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
634+
<frame_id>odom</frame_id>
635+
<child_frame_id>base_footprint</child_frame_id>
636+
637+
<alpha1>0.002</alpha1>
638+
<alpha2>0.002</alpha2>
639+
<alpha3>0.001</alpha3>
640+
<alpha4>0.001</alpha4>
638641
</plugin>
639642

640643
</model>

0 commit comments

Comments
 (0)