search

droneslab / audubon_gazebo

ROS & Gazebo F1/10 Autonomous Racecar Simulator
Apache License 2.0
1 stars 3 forks source link

Reconfigure sensor suite #30

Closed yashomdighe closed 1 year ago

yashomdighe commented 1 year ago

Changes:

  1. Changed the position of the laser from the top of the car to the front. This is faithful to the mounting configuration that the car uses.
  2. Changed the tf publishers. The xacros file mounts the chassis to the base_link and all the other links are to the chassis. So I have added a base_link chassis tf publisher and changed the base_link - laser tf publisher (had the wrong values) to publish a static tf between chassis - laser.
  3. Deleted simple loop. IMS is the same

Additions:

  1. Added and im plugin to the laser
  2. Added a stereo camera to the car. The positon is faithful to the mounting configuration on the real car.
  3. Added an imu plugin to the car.
  4. Added a static tf publisher that publishes chassis - camera transform

Notes: Imu plugins' noise values are taken from husky-gazebos urdf. May need to change