41 lines
1.3 KiB
XML
41 lines
1.3 KiB
XML
<?xml version="1.0"?>
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<robot>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/g1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
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<updateRateHZ>1000.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<gazebo reference="base">
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<gazebo reference="imu_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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</robot>
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