Add an IMU sensor plugin that inherits from SensorPlugin #363

alessandrosettimi · 2015-10-23T10:14:14Z

We added a new imu plugin: gazebo_ros_imu_sensor.
Main differences from gazebo_ros_imu:

inheritance from SensorPlugin,
measurements are given from gazebo imu sensor instead of being computed by the ros plugin,
gravity is included in inertial measurements.

l0g1x · 2015-11-18T17:52:52Z

Has anyone had time to look at this?

hsu · 2016-01-22T22:48:23Z

This looks good. Could you please add your overview (3 bullet points in PR description) on differences between gazebo_ros_imu and gazebo_ros_imu_sensor somewhere? I don't have a good place for it in mind (maybe here). I am looking into doxygen generation as well.

… and GazeboRosIMU

alessandrosettimi · 2016-01-23T14:22:20Z

I uptaded the documentation of the plugin and I also created this pull request in the tutorials documentation: https://bitbucket.org/osrf/gazebo_tutorials/pull-requests/335

alessandrosettimi · 2016-02-02T21:21:31Z

The aforementioned pull request has been merged.

…as frame_id

nicolaerosia · 2016-04-03T11:12:58Z

This is present in tutorial but not merged: http://gazebosim.org/tutorials?tut=ros_gzplugins&cat=connect_ros#IMUsensor(GazeboRosImuSensor)

j-rivero · 2016-07-06T13:50:38Z

@osrf-jenkins run test please

meyerj · 2016-07-26T08:45:43Z

gazebo_plugins/src/gazebo_ros_imu_sensor.cpp

+void gazebo::GazeboRosImuSensor::Load(gazebo::sensors::SensorPtr sensor_, sdf::ElementPtr sdf_)
+{
+  sdf=sdf_;
+  sensor=dynamic_cast<gazebo::sensors::ImuSensor*>(sensor_.get());


You should check against null pointer after the dynamic_cast here. Maybe the plugin was loaded for a sensor which is not an ImuSensor.

I added the test you suggested.

meyerj · 2016-07-26T08:58:17Z

Is there a reason why you took over the scalar gaussianNoise parameter from gazebo_ros_imu and add a white noise term to all fields individually instead of relying on the more powerful noise model already present in Gazebo's ImuSensor? Using the same noise variance for linear acceleration, angular velocity and even quaternion components has nothing do to with reality. However, the current ImuSensor (https://bitbucket.org/osrf/gazebo/src/2e153b94b73a5f3e6301cc65640920cdb311f08c/gazebo/sensors/ImuSensor.cc?at=default&fileviewer=file-view-default) does not apply any noise or bias to the orientation part, which is also not very realistic.

+1 for providing an alternative ROS plugin for the broken gazebo_ros_imu plugin (unrealistic noise and no gravity component in acceleration).

130s · 2016-07-27T00:32:26Z

#363 (comment)

This is present in tutorial but not merged: http://gazebosim.org/tutorials?tut=ros_gzplugins&cat=connect_ros#IMUsensor(GazeboRosImuSensor)

Yeah. Just as fyi, the tutorial is confusing (2 IMU plugins. One is not existent yet (GazeboRosImuSensor. The one this PR suggests). The info for the other GazeboRosImu isn't really helpful). Since we still have only GazeboRosImu, I opened a pr to update the doc.

alessandrosettimi · 2016-07-27T18:34:33Z

I added a check on Gazebo version since some functions have changed since the version 6.0

alessandrosettimi · 2016-08-02T10:14:55Z

I also changed some function that are now deprecated for gazebo version greater than 7.0.

jbrookshire · 2016-09-08T14:51:26Z

Yes, my thanks too for adding this sensor plugin. I agree, though: not clear why gaussianNoise parameter is needed. It seems to just add Gaussian noise on top of the sensor's Gaussian noise.

sarlinpe · 2016-12-14T16:47:02Z

gazebo_plugins/src/gazebo_ros_imu_sensor.cpp

+  //NAMESPACE
+  if (sdf->HasElement("robotNamespace"))
+  {
+    robot_namespace =  "/" + sdf->Get<std::string>("robotNamespace") +"/";


Why not including the root '/' in the namespace ? As already used in the gazebo_ros_control plugin (see http://gazebosim.org/tutorials?tut=ros_control&cat=connect_ros)

done in 3b4735a

sarlinpe · 2016-12-14T16:49:46Z

gazebo_plugins/src/gazebo_ros_imu_sensor.cpp

+  }
+
+  //BODY NAME
+  if (sdf->HasElement("bodyName"))


"bodyName" is referenced as "frameName" in other plugins (see here), maybe better keeping the same convention ?

done in 0cb04ca

davetcoleman · 2017-03-22T23:51:25Z

@j-rivero think this can be merged? I'm not super familiar with IMU sensors. This PR also targets indigo, maybe it should just be targeted to Kinetic since the original PR is so old now?

iluetkeb · 2017-03-30T06:26:59Z

+1 for merging. This can only be better than what's currently available.

Lets merge first to Indigo and then pull up to Kinetic.

jliviero · 2017-03-30T11:24:14Z

We would also find this plugin useful, +1 to merging.

j-rivero · 2017-03-30T17:18:15Z

Thanks for the feedback. Before merging, it would be nice to include a test or at least an example world that includes the IMU so black box testing can be run without having to implement one.

@iluetkeb we try to merge and release new additions or modifications first into Jade/Kinetic and threat Indigo as a more stable code where changes landed after a period of testing in the other distributions.

j-rivero · 2017-04-25T23:40:49Z

Thanks very much @alessandrosettimi for the work and the rest of you for the comments.

…ion#363) * added a IMU sensor plugin that inherits from SensorPlugin * now the plugin works with multiple robots * using GetParentName name instead of GetScopedName * added comments to highlight the differents between GazeboRosImuSensor and GazeboRosIMU * now the message header is properly handled, using bodyName parameter as frame_id * added check on gazebo version * added check for sensor null pointer * changed deprecated functions for gazebo version >= 6 * fixed version check * added missing sensor variable for LastUpdateTime() function call * considering '/' included in the robotNamespace * replaced "bodyFrame" with "frameName"

alessandrosettimi added 3 commits October 23, 2015 12:01

added a IMU sensor plugin that inherits from SensorPlugin

1b9b61a

now the plugin works with multiple robots

1e8496a

using GetParentName name instead of GetScopedName

44c65f3

added comments to highlight the differents between GazeboRosImuSensor…

bebde11

… and GazeboRosIMU

now the message header is properly handled, using bodyName parameter …

c3a42ac

…as frame_id

scpeters added this to the untargeted milestone Apr 25, 2016

meyerj reviewed Jul 26, 2016
View reviewed changes

alessandrosettimi added 2 commits July 27, 2016 19:59

added check on gazebo version

f59ee3f

added check for sensor null pointer

b4772d6

alessandrosettimi added 3 commits August 2, 2016 10:14

changed deprecated functions for gazebo version >= 6

96cc16e

fixed version check

b4295a0

added missing sensor variable for LastUpdateTime() function call

2dc6dce

j-rivero mentioned this pull request Aug 2, 2016

Imu plugin doesn't report 9.8 m/s^2 for z linear acceleration #468

Open

sarlinpe reviewed Dec 14, 2016

View reviewed changes

alessandrosettimi added 2 commits February 20, 2017 16:53

considering '/' included in the robotNamespace

3b4735a

replaced "bodyFrame" with "frameName"

0cb04ca

davetcoleman approved these changes Feb 21, 2017

View reviewed changes

davetcoleman changed the base branch from indigo-devel to kinetic-devel April 10, 2017 00:01

davetcoleman changed the title ~~added a IMU sensor plugin that inherits from SensorPlugin~~ Add an IMU sensor plugin that inherits from SensorPlugin Apr 10, 2017

Merge branch 'kinetic-devel' into indigo-devel

d407e85

j-rivero merged commit 4a8821f into ros-simulation:kinetic-devel Apr 25, 2017

meyerj mentioned this pull request May 2, 2018

IMU plugin tu-darmstadt-ros-pkg/hector_gazebo#50

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Add an IMU sensor plugin that inherits from SensorPlugin #363

Add an IMU sensor plugin that inherits from SensorPlugin #363

alessandrosettimi commented Oct 23, 2015

l0g1x commented Nov 18, 2015

hsu commented Jan 22, 2016

alessandrosettimi commented Jan 23, 2016

alessandrosettimi commented Feb 2, 2016

nicolaerosia commented Apr 3, 2016

j-rivero commented Jul 6, 2016

meyerj Jul 26, 2016

alessandrosettimi Jul 27, 2016

meyerj commented Jul 26, 2016

130s commented Jul 27, 2016

alessandrosettimi commented Jul 27, 2016

alessandrosettimi commented Aug 2, 2016

jbrookshire commented Sep 8, 2016

sarlinpe Dec 14, 2016

alessandrosettimi Mar 20, 2017

sarlinpe Dec 14, 2016

alessandrosettimi Mar 20, 2017

davetcoleman commented Mar 22, 2017

iluetkeb commented Mar 30, 2017

jliviero commented Mar 30, 2017

j-rivero commented Mar 30, 2017

j-rivero commented Apr 25, 2017

Add an IMU sensor plugin that inherits from SensorPlugin #363

Add an IMU sensor plugin that inherits from SensorPlugin #363

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alessandrosettimi commented Oct 23, 2015

l0g1x commented Nov 18, 2015

hsu commented Jan 22, 2016

alessandrosettimi commented Jan 23, 2016

alessandrosettimi commented Feb 2, 2016

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j-rivero commented Apr 25, 2017