#339 Gazebo: Addition of IMU Sensor, Controller, and Iface

closed
Gazebo (98)
5
2008-11-17
2008-09-19
No

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

Discussion

  • Matt Thompson

    Matt Thompson - 2008-09-19

    Gazebo IMU addition

     
  • Nathan Koenig

    Nathan Koenig - 2008-09-21
    • status: open --> closed
     
  • Nathan Koenig

    Nathan Koenig - 2008-09-21

    The changes have been made in SVN trunk.
    Thank you for your contribution.

     
  • Matt Thompson

    Matt Thompson - 2008-09-22

    The directories and model file from the patch were not added in SVN rev 7033.

     
  • Matt Thompson

    Matt Thompson - 2008-09-22
    • status: closed --> open
     
  • Nathan Koenig

    Nathan Koenig - 2008-11-17

    I believe its fixed now.

     
  • Nathan Koenig

    Nathan Koenig - 2008-11-17

    The changes have been made in SVN trunk.
    Thank you for your contribution.

     
  • Nathan Koenig

    Nathan Koenig - 2008-11-17
    • status: open --> closed
     

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