forked from gazebosim/gz-sim
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Parse new param for enabling / disabling IMU orientation output (gaze…
…bosim#899) * parse imu orientation param Signed-off-by: Ian Chen <ichen@osrfoundation.org> * use enable_orientation sdf elem Signed-off-by: Ian Chen <ichen@osrfoundation.org> * use joinPaths Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add test world file Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
- Loading branch information
1 parent
38e6aa6
commit f41e904
Showing
3 changed files
with
130 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,83 @@ | ||
<?xml version="1.0" ?> | ||
<sdf version="1.6"> | ||
<world name="imu_sensor"> | ||
<gravity>0 0 -5</gravity> | ||
<physics name="1ms" type="ode"> | ||
<max_step_size>0.001</max_step_size> | ||
<real_time_factor>1.0</real_time_factor> | ||
</physics> | ||
<plugin | ||
filename="ignition-gazebo-physics-system" | ||
name="ignition::gazebo::systems::Physics"> | ||
</plugin> | ||
<plugin | ||
filename="ignition-gazebo-imu-system" | ||
name="ignition::gazebo::systems::Imu"> | ||
</plugin> | ||
|
||
<model name="ground_plane"> | ||
<static>true</static> | ||
<link name="link"> | ||
<collision name="collision"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
</collision> | ||
<visual name="visual"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
<material> | ||
<ambient>0.8 0.8 0.8 1</ambient> | ||
<diffuse>0.8 0.8 0.8 1</diffuse> | ||
<specular>0.8 0.8 0.8 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
|
||
<model name="imu_model"> | ||
<pose>4 0 3.0 0 0.0 3.14</pose> | ||
<link name="link"> | ||
<pose>0.05 0.05 0.05 0 0 0</pose> | ||
<inertial> | ||
<mass>0.1</mass> | ||
<inertia> | ||
<ixx>0.000166667</ixx> | ||
<iyy>0.000166667</iyy> | ||
<izz>0.000166667</izz> | ||
</inertia> | ||
</inertial> | ||
<collision name="collision"> | ||
<geometry> | ||
<box> | ||
<size>0.1 0.1 0.1</size> | ||
</box> | ||
</geometry> | ||
</collision> | ||
<visual name="visual"> | ||
<geometry> | ||
<box> | ||
<size>0.1 0.1 0.1</size> | ||
</box> | ||
</geometry> | ||
</visual> | ||
<sensor name="imu_sensor" type="imu"> | ||
<always_on>1</always_on> | ||
<update_rate>30</update_rate> | ||
<visualize>true</visualize> | ||
<imu> | ||
<enable_orientation>false</enable_orientation> | ||
</imu> | ||
</sensor> | ||
</link> | ||
</model> | ||
|
||
</world> | ||
</sdf> |