search

tu-darmstadt-ros-pkg / hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
http://www.ros.org/wiki/hector_gazebo
181 stars 155 forks source link

How to modify topic hz of libhector_gazebo_ros_imu.so #94

Closed narutojxl closed 2 years ago

narutojxl commented 2 years ago

Hi all, In ros wiki hector_gazebo_plugins, there is a param updateRate (double): the update rate of the sensor in hertz. When modify this param as 200, but the output topic hz is 100, and i don't find this param in libhector_gazebo_ros_imu.so source code gazebo_ros_imu.cpp. I want to know how to change the published imu topic hz? Thanks your help and time very much!

narutojxl commented 2 years ago

It seems that i set update frequency is too high, the biggest update hz on my pc is 100 hz. The param updateRate takes effect, i guess it is defined in ModelPlugin class.