Closed GiulioRomualdi closed 6 months ago
@martinaxgloria also will benefit of this change
I'm going to open a PR for the feet imu (added with xml blob)
I'm going to open a PR for the feet imu (added with xml blob)
Why not as sensors
in the yaml? Using the same CSYS of the ft gives problems?
I've never did it. Can you point me some line of the code I can use as inspiration?
If I'm not mistaken, @g-cervettini noticed that the imu plugin needs to be attached to a link, and currently, there are no links exposed in the FTs. (The FT plugins are connected to a fixed joint) For this reason @G-Cervettini manually specified the pose of the sensor with respect to the parent. I don't know if this is possible with the approach you propose (for the head imu the pose seems to be zero)
At the end in :
We went for adding as xml blobs because we spotted a bug in creo2urdf:
The generated imu sensors had wrong poses, in simmecanics_to_urdf
seems not to be a problem exporting an ft and imu that refers to the same csys:
Description of the Task
The robot's Force/Torque (FT) sensor is equipped with an Inertial Measurement Unit (IMU) capable of streaming orientation data. Integrating this feature into simulation would be beneficial.
Previously, @G-Cervettini initiated a Pull Request (PR) to integrate this functionality, https://github.com/icub-tech-iit/ergocub-software/pull/145. However, it involved manual modifications to the urdf file.
Definition of Completion
Successfully implement the IMU streaming within the Gazebo model using multipleanalogsensorserver.