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turtlebot / turtlebot4_simulator

TurtleBot 4 Simulator packages
Apache License 2.0
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IMU in simulation #49

Closed y2d2 closed 11 months ago

y2d2 commented 11 months ago

Describe the feature you would like Maybe I might have missed it, but it seems the IMU is not simulated. I am not sure whether TB4 in general has an IMU of its own, but I know the OAKD-pro has one and it would be lovely to have the IMU simulated so VIO (like VINS etc) can be used as well in simulation.

I apologize if this is not the way to ask these things.

roni-kreinin commented 11 months ago

The base Create 3 does have an IMU, and it does get simulated. The missing piece is the gz_to_ros bridge for the imu topic. We will make a PR for that on the create3_sim repo to add this.

y2d2 commented 11 months ago

Thanks ! Looking forward to the update.

svdeepak99 commented 1 month ago

The base Create 3 does have an IMU, and it does get simulated. The missing piece is the gz_to_ros bridge for the imu topic. We will make a PR for that on the create3_sim repo to add this.

@roni-kreinin any updates on this?