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Parse new param for enabling / disabling IMU orientation output (gaze…
…bosim#899) * parse imu orientation param Signed-off-by: Ian Chen <[email protected]> * use enable_orientation sdf elem Signed-off-by: Ian Chen <[email protected]> * use joinPaths Signed-off-by: Ian Chen <[email protected]> * add test world file Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Signed-off-by: William Lew <[email protected]>
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Original file line number | Diff line number | Diff line change |
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<?xml version="1.0" ?> | ||
<sdf version="1.6"> | ||
<world name="imu_sensor"> | ||
<gravity>0 0 -5</gravity> | ||
<physics name="1ms" type="ode"> | ||
<max_step_size>0.001</max_step_size> | ||
<real_time_factor>1.0</real_time_factor> | ||
</physics> | ||
<plugin | ||
filename="ignition-gazebo-physics-system" | ||
name="ignition::gazebo::systems::Physics"> | ||
</plugin> | ||
<plugin | ||
filename="ignition-gazebo-imu-system" | ||
name="ignition::gazebo::systems::Imu"> | ||
</plugin> | ||
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||
<model name="ground_plane"> | ||
<static>true</static> | ||
<link name="link"> | ||
<collision name="collision"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
</collision> | ||
<visual name="visual"> | ||
<geometry> | ||
<plane> | ||
<normal>0 0 1</normal> | ||
<size>100 100</size> | ||
</plane> | ||
</geometry> | ||
<material> | ||
<ambient>0.8 0.8 0.8 1</ambient> | ||
<diffuse>0.8 0.8 0.8 1</diffuse> | ||
<specular>0.8 0.8 0.8 1</specular> | ||
</material> | ||
</visual> | ||
</link> | ||
</model> | ||
|
||
<model name="imu_model"> | ||
<pose>4 0 3.0 0 0.0 3.14</pose> | ||
<link name="link"> | ||
<pose>0.05 0.05 0.05 0 0 0</pose> | ||
<inertial> | ||
<mass>0.1</mass> | ||
<inertia> | ||
<ixx>0.000166667</ixx> | ||
<iyy>0.000166667</iyy> | ||
<izz>0.000166667</izz> | ||
</inertia> | ||
</inertial> | ||
<collision name="collision"> | ||
<geometry> | ||
<box> | ||
<size>0.1 0.1 0.1</size> | ||
</box> | ||
</geometry> | ||
</collision> | ||
<visual name="visual"> | ||
<geometry> | ||
<box> | ||
<size>0.1 0.1 0.1</size> | ||
</box> | ||
</geometry> | ||
</visual> | ||
<sensor name="imu_sensor" type="imu"> | ||
<always_on>1</always_on> | ||
<update_rate>30</update_rate> | ||
<visualize>true</visualize> | ||
<imu> | ||
<enable_orientation>false</enable_orientation> | ||
</imu> | ||
</sensor> | ||
</link> | ||
</model> | ||
|
||
</world> | ||
</sdf> |