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Jul 25th, 2017
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  1. <?xml version="1.0" ?>
  2. <sdf version="1.5">
  3.   <model name="sensor_block">
  4.     <static>1</static>
  5.     <pose> 0 0 0.1 0 0 0 </pose>
  6.  
  7.     <link name="base">
  8.       <inertial>
  9.         <inertia><ixx>0.01</ixx><ixy>0</ixy><ixz>0</ixz>  <iyy>0.01</iyy>  <iyz>0</iyz>  <izz>0.01</izz></inertia>
  10.         <mass>1.0</mass>
  11.       </inertial>
  12.  
  13.       <collision name="collision"><geometry><box><size>0.2 0.2 0.2</size></box></geometry></collision>
  14.       <visual name="visual"><geometry><box><size>0.2 0.2 0.2</size></box></geometry></visual>
  15.     </link>
  16.  
  17.  
  18.  
  19.  
  20.  
  21.     <!-- Plugins -->
  22.  
  23.     <!-- Base block: has a fully functional ins -->
  24.     <plugin name="gps_sim" filename="libhector_gazebo_ros_gps.so">
  25.       <updateRate>10</updateRate>
  26.       <bodyName>base</bodyName>
  27.       <frameId>base_link</frameId>
  28.       <topicName>/gps/fix</topicName>
  29.       <velocityTopicName>fix_velocity_base</velocityTopicName>
  30.       <referenceLatitude>40.4653365145</referenceLatitude>
  31.       <referenceLongitude>-3.7924659932</referenceLongitude>
  32.  
  33.       <referenceHeading> -90 </referenceHeading>
  34.       <drift>0.005 0.0005 0.0005</drift>
  35.       <gaussianNoise>0.0001 0.0001 0.001</gaussianNoise>
  36.       <velocityDrift>0 0 0</velocityDrift>
  37.       <velocityGaussianNoise>0.0005 0.0005 0.0005</velocityGaussianNoise>
  38.  
  39.  
  40.     </plugin>
  41.  
  42.  
  43.     <plugin name="imu_sim_2_good" filename="libgazebo_ros_imu.so">
  44.       <updateRate>100</updateRate>
  45.       <bodyName>base</bodyName>
  46.       <frameId>base_link</frameId>
  47.       <topicName>raw_imu_2_good</topicName>
  48.       <gaussianNoise>0.00001</gaussianNoise>
  49.       <accelDrift>0.0000000001 0.0000000001 0.0000000001</accelDrift>
  50.       <accelGaussianNoise>0.00000001 0.000000000001 0.0000000001</accelGaussianNoise>
  51.       <rateDrift>0 0 0</rateDrift>
  52.       <rateGaussianNoise>0.01 0.01 0.01</rateGaussianNoise>
  53.     </plugin>
  54.  
  55.     <plugin name="imu_sim_2_very_good" filename="libgazebo_ros_imu.so">
  56.       <updateRate>100</updateRate>
  57.       <bodyName>base</bodyName>
  58.       <frameId>base_link</frameId>
  59.       <topicName>raw_imu_2_very_good</topicName>
  60.       <rpyOffset>0 0 0</rpyOffset> <!-- deprecated -->
  61.       <gaussianNoise>0.000001</gaussianNoise>  <!-- deprecated -->
  62.       <accelDrift>0.0000000001 0.0000000001 0.0000000001</accelDrift>
  63.       <accelGaussianNoise>0.00000001 0.00000001 0.000001</accelGaussianNoise>
  64.       <rateDrift>0 0 0</rateDrift>
  65.       <rateGaussianNoise>0.000001 0.000001 0.000001</rateGaussianNoise>
  66.     </plugin>
  67.  
  68.   </model>
  69. </sdf>
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