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Field-Robotics-Lab / glider_hybrid_whoi

(Hybrid-) AUG Simulator
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Add Depth/Pressure sensor #27

Closed woensug-choi closed 3 years ago

woensug-choi commented 3 years ago

A depth/pressure sensor is added.

sensor specifications

      topic="pressure"
      mass="0.015"
      update_rate="10"
      range="1362"
      noise_sigma="3.0"
      noise_amplitude="0.0"
      estimateDepth="true"
      standardPressure="101.325"
      kPaPerM="9.80638">
      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
      <origin xyz="0.0 0.0 -0.0825" rpy="0 ${0.5*pi} 0" />

How to test

roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics.launch

Note

Not sure what estimateDepth XML configuration handle does