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I found that when I add the following to the robot urdf file, I get ground truth odometry from "/ground_truth/state" topic.

<plugin filename="libgazebo_ros_p3d.so" name="quadrotor_groundtruth_sim">
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>ground_truth/state</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>world</frameName>
</plugin>

</gazebo>

I found that when I add the following to the robot urdf file, I get ground truth odometry from "/ground_truth/state" topic.

<plugin filename="libgazebo_ros_p3d.so" name="quadrotor_groundtruth_sim">
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>ground_truth/state</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>world</frameName>
</plugin>

</gazebo>

I found that when I add the following to the robot urdf file, I get ground truth odometry from "/ground_truth/state" topic.

<plugin <gazebo><plugin filename="libgazebo_ros_p3d.so" name="quadrotor_groundtruth_sim">
  <updateRate>100.0</updateRate>
  <bodyName>base_link</bodyName>
  <topicName>ground_truth/state</topicName>
  <gaussianNoise>0.0</gaussianNoise>
  <frameName>world</frameName>
</plugin>
</plugin></gazebo>

</gazebo>