Closed prashanthr05 closed 3 years ago
Requires the iCubGazeboV3 URDF model to contain the IMU sensor added in its head link. This is a pending issue in https://github.com/robotology/icub-models/issues/62.
head
Temporarily, this can be fixed by adding to the URDF,
<gazebo reference="head"> <sensor name="head_imu_acc_1x1" type="imu"> <always_on>1</always_on> <update_rate>100</update_rate> <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so"> <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_inertial.ini</yarpConfigurationFile> </plugin> </sensor> </gazebo> <sensor name="head_imu_acc_1x1" type="accelerometer"> <parent link="head"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> </sensor>
This is done in https://github.com/dic-iit/icub-models/tree/icub3/wbd.
Merged, thanks!
Requires the iCubGazeboV3 URDF model to contain the IMU sensor added in its
head
link. This is a pending issue in https://github.com/robotology/icub-models/issues/62.Temporarily, this can be fixed by adding to the URDF,
This is done in https://github.com/dic-iit/icub-models/tree/icub3/wbd.