2024-09-09 22:18:19 +08:00
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="imu">
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<xacro:macro name="IMU" params="connected_to imu_name xyz:='0 0 0' rpy:='0 0 0' ">
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<!-- Imu is fixed to the base link -->
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<joint name="${imu_name}_joint" type="fixed">
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<origin xyz="${xyz}" rpy="${rpy}"/>
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<parent link="${connected_to}"/>
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<child link="${imu_name}"/>
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</joint>
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<!-- Imu link -->
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<link name="${imu_name}">
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.015 0.015 0.004"/>
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</geometry>
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</visual>
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<material name="orange">
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<color rgba="255 108 10 255"/>
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</material>
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</link>
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<gazebo reference="${imu_name}">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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2024-09-20 17:56:00 +08:00
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<update_rate>500</update_rate>
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2024-09-09 22:18:19 +08:00
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<visualize>true</visualize>
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<topic>imu</topic>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="${imu_name}_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>
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</xacro:macro>
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</robot>
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