The Player Project

Patches item #2118734, was opened at 2008-09-19 00:16
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Category: Gazebo
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Matt Thompson (m_thompson)
Assigned to: Nathan Koenig (natepak)
Summary: Gazebo: Addition of IMU Sensor, Controller, and Iface

Initial Comment:
The attached patch adds an IMU Sensor, Controller, and libgazebo Iface.  There is no player interface at the moment.

The sensor attaches to a body, and reports the longitudinal meters per second, lateral meters per second, and roll/pitch/yaw in radians per second.

Here is an example usage in a world file:

    <model:physical name="imu">
      <xyz>0 0 0.39</xyz>

      <attach>
        <parentBody>frame_body</parentBody>
        <myBody>imu_body</myBody>
      </attach>

      <include embedded="true">
        <xi:include href="models/imu.model" />
      </include>
    </model:physical>


And libgazebo:

gazebo::ImuIface *imuIface = new gazebo::ImuIface();
imuIface->Open(client, "imu_iface_0");

imuIface->Lock(1);
longitudinal_mps = imuIface->data->velocity.pos.x;
lateral_mps = imuIface->data->velocity.pos.y;
roll_rps = imuIface->data->velocity.roll;
pitch_rps = imuIface->data->velocity.pitch;
yaw_rps = imuIface->data->velocity.yaw;
imuIface->Unlock();

Cheers

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You can respond by visiting: 
https://sourceforge.net/tracker/?func=detail&atid=433166&aid=2118734&group_id=42445