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How to get a ground truth yaw angle or odometry from Gazebo?

asked 2017-12-21 03:31:21 -0600

Abdulbaki

26 ●2 ●5 ●6

updated 2018-03-15 07:53:37 -0600

I need to do georeferencing with point clouds on Gazebo so I use navsat_transform_node to convert gps to odom information as odometry/gps and I use ekf localization with "odometry/gps" and "imu/data" nodes as I am inspired by [ https://answers.ros.org/question/2000... ] but the yaw angle that I take from "odometry/filtered" node drifts even though I set all the drift and noise values to zero in husky.gazebo.xacro file.

Can you tell me what should I do to get a perfect yaw angle on Gazebo or what am I doing wrong?

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answered 2018-03-15 07:50:58 -0600

Abdulbaki

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updated 2018-03-15 07:52:30 -0600

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

<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></gazebo>

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Asked: 2017-12-21 03:31:21 -0600

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Last updated: Mar 15 '18

How to get a ground truth yaw angle or odometry from Gazebo? edit

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How to get a ground truth yaw angle or odometry from Gazebo?