Merge pull request #693 from JdeRobot/gz-plugin-odometry

Gz plugin odometry

Author: javizqh

CustomRobots/roomba_robot/models/roombaROS/model.sdf

@@ -461,15 +461,15 @@
     </plugin>
 
     <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-      <ros_topic>/roombaROS/odom_noisy</ros_topic>
+      <ros_topic>/odom_noisy</ros_topic>
       <gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
       <frame_id>odom</frame_id>
-      <child_frame_id>base_footprint</child_frame_id>
+      <child_frame_id>base</child_frame_id>
 
-      <alpha1>0.002</alpha1>
-      <alpha2>0.002</alpha2>
-      <alpha3>0.001</alpha3>
-      <alpha4>0.001</alpha4>
+      <alpha1>0.01</alpha1>
+      <alpha2>0.01</alpha2>
+      <alpha3>0.005</alpha3>
+      <alpha4>0.005</alpha4>
     </plugin>
 
   </model>

CustomRobots/roomba_robot/models/roombaROS_cam/model.sdf

@@ -629,15 +629,15 @@
     </plugin>
 
     <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-      <ros_topic>/roombaROS/odom_noisy</ros_topic>
+      <ros_topic>/odom_noisy</ros_topic>
       <gz_cmd_vel_topic>/roombaROS/cmd_vel</gz_cmd_vel_topic>
       <frame_id>odom</frame_id>
-      <child_frame_id>base_footprint</child_frame_id>
+      <child_frame_id>base</child_frame_id>
 
-      <alpha1>0.002</alpha1>
-      <alpha2>0.002</alpha2>
-      <alpha3>0.001</alpha3>
-      <alpha4>0.001</alpha4>
+      <alpha1>0.01</alpha1>
+      <alpha2>0.01</alpha2>
+      <alpha3>0.005</alpha3>
+      <alpha4>0.005</alpha4>
     </plugin>
 
   </model>

CustomRobots/roomba_robot/params/roombaROS.yaml

@@ -1,24 +1,15 @@
-# gz topic published by DiffDrive plugin
-- ros_topic_name: "odom"
+- ros_topic_name: "/odom"
   gz_topic_name: "/roombaROS/odom"
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "odom_noisy"
-  gz_topic_name: "/roombaROS/odom_noisy"
-  ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
-  direction: GZ_TO_ROS
-
-# gz topic subscribed to by DiffDrive plugin
-- ros_topic_name: "cmd_vel"
+- ros_topic_name: "/cmd_vel"
   gz_topic_name: "/roombaROS/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
 
-# gz topic published by Sensors plugin (LIDAR)
 - ros_topic_name: "/roombaROS/laser/scan"
   gz_topic_name: "/roombaROS/laser/scan"
   ros_type_name: "sensor_msgs/msg/LaserScan"
@@ -41,4 +32,4 @@
   gz_topic_name: "/roombaROS/events/left_bumper"
   ros_type_name: "ros_gz_interfaces/msg/Contacts"
   gz_type_name: "gz.msgs.Contacts"
-  direction: GZ_TO_ROS
+  direction: GZ_TO_ROS

CustomRobots/roomba_robot/params/roombaROS_cam.yaml

@@ -1,24 +1,15 @@
-# gz topic published by DiffDrive plugin
-- ros_topic_name: "odom"
+- ros_topic_name: "/odom"
   gz_topic_name: "/roombaROS/odom"
   ros_type_name: "nav_msgs/msg/Odometry"
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "odom_noisy"
-  gz_topic_name: "/roombaROS/odom_noisy"
-  ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
-  direction: GZ_TO_ROS
-
-# gz topic subscribed to by DiffDrive plugin
-- ros_topic_name: "cmd_vel"
+- ros_topic_name: "/cmd_vel"
   gz_topic_name: "/roombaROS/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
 
-# gz topic published by Sensors plugin (LIDAR)
 - ros_topic_name: "/roombaROS/laser/scan"
   gz_topic_name: "/roombaROS/laser/scan"
   ros_type_name: "sensor_msgs/msg/LaserScan"
@@ -43,9 +34,8 @@
   gz_type_name: "gz.msgs.Contacts"
   direction: GZ_TO_ROS
 
-# gz topic published by Sensors plugin (Camera)
 - ros_topic_name: "/camera/camera_info"
   gz_topic_name: "/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
+  direction: GZ_TO_ROS