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Merge branch 'user/wang-edward/248/imu-gps-urdf' of https://github.co…
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…m/uwrobotics/uwrt_mars_rover into comp-2024
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@nico-palmar
nico-palmar committed Feb 11, 2024
2 parents 1a3d359 + 2cdefab commit cd0c0e7
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160 changes: 160 additions & 0 deletions ..._mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro
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Expand Up @@ -134,4 +134,164 @@
</ros2_control>
</xacro:macro>

<xacro:macro name="nav_imu">
<link name="nav_imu_link">
<visual>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<!-- <material name="cyan"> -->
<!-- <color rgba"0 1.0 1.0 1.0"/> -->
<!-- </material> -->
</visual>

<collision>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>

<!-- <xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/> -->
</link>

<joint name="nav_imu_joint" type="fixed">
<parent link="base_link"/>
<child link="nav_imu_link"/>
<origin xyz="0 0 0.01"/>
</joint>

<gazebo reference="nav_imu_link">
<sensor name="nav_imu_sensor" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<ros>
<namespace>/demo</namespace>
<remapping>~/out:=imu</remapping>
</ros>
<initial_orientation_as_reference>false</initial_orientation_as_reference>
</plugin>
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>

</xacro:macro>

<xacro:macro name="nav_gps">

<link name="nav_gps_link">
<visual>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<!-- <material name="cyan"> -->
<!-- <color rgba"0 1.0 1.0 1.0"/> -->
<!-- </material> -->
</visual>

<collision>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>

<!-- <xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/> -->
</link>

<joint name="nav_gps_joint" type="fixed">
<parent link="base_link"/>
<child link="nav_gps_link"/>
<origin xyz="0 0 0.01"/>
</joint>

<gazebo reference="nav_gps_link">
<sensor name="nav_gps_sensor" type="gps">
<plugin name="nav_gps_plugin" filename="libgazebo_ros_gps_sensor.so">
<ros>
<namespace>/demo</namespace>
<remapping>~/out:=gps</remapping>
</ros>
<frame_name>gps_link</frame_name>
</plugin>
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<gps>

<longitude>
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</longitude>

<latitude>
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</latitude>

</gps>
</sensor>
<material>Gazebo/Grey</material> <!-- TODO: fix? -->
</gazebo>

</xacro:macro>


</robot>
4 changes: 3 additions & 1 deletion uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
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Expand Up @@ -56,7 +56,6 @@
<xacro:wheel prefix="left" suffix="middle" parent_link="chassis" reflect="1" x_position="0"/>
<xacro:wheel prefix="left" suffix="back" parent_link="chassis" reflect="1" x_position="${-chassis_length/2}"/>


<!-- sensors -->
<xacro:property name="sensors_parameters" value="${load_yaml(sensor_paramater_file)}"/>

Expand All @@ -69,4 +68,7 @@
<!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}" name="lidar1"/>
<xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/> -->

<xacro:nav_imu/>
<xacro:nav_gps/>

</robot>

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