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Hi @hn_on_fire
Try changing the body name, most likely you already have something called base_link
to something like sensor
<gazebo>
<plugin name="gazebo_ros_gps" filename="libhector_gazebo_ros_gps.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<robotNamespace>/bot</robotNamespace>
<bodyName>sensor</bodyName>
<frameId>sensor</frameId>
<topicName>/gps/fix</topicName>
<velocityTopicName>/gps/fix_velocity</velocityTopicName>
<drift>0.001 0.001 0.001</drift>
<gaussianNoise>0.05 0.05 0.05</gaussianNoise>
<velocityDrift>0.001 0.001 0.001</velocityDrift>
<velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
</plugin>
</gazebo>