Why do we use hector_gazebo_imu and hector_gazebo_gps?

husky / husky_simulator

Simulator packages for the Clearpath Husky for Indigo & prior. For kinetic, visit https://github.com/husky/husky

http://wiki.ros.org/Robots/Husky

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Why do we use hector_gazebo_imu and hector_gazebo_gps? #28

Closed UltronDestroyer closed 7 years ago

UltronDestroyer commented 7 years ago

In here we use

https://github.com/husky/husky_simulator/blob/kinetic-devel/husky_gazebo/urdf/husky.gazebo.xacro#L33

Why that instead of the gazebo ones?

mikepurvis commented 7 years ago

Mostly historical— prior to Gazebo 7, there wasn't a standard GPS plugin. And the standard IMU plugin did weird things like not have a gravity vector, so it was easier to use one from the community which was more consistent with our real-world sensors.

UltronDestroyer commented 7 years ago

Sounds good. for Indigo I'll leave it Hector, but Kinetic, I'll be moving it to Gz7's plugin