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ubc-subbots / triton

ROS2 system for the Triton AUV
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Add an IMU plugin to the triton_auv model #115

Closed Jared-Chan closed 1 year ago

Jared-Chan commented 2 years ago

To test our control system in Gazebo, we need a complete model of our AUV. We already have camera and thruster plugins, but one key sensor missing is the IMU.

In the triton_gazebo package, we have a triton_auv model. Add an IMU plugin to it so that we get IMU output from running simulations.

Resources: https://medium.com/@bytesrobotics/a-review-of-the-ros2-urdf-gazebo-sensor-91e947c633d7 https://classic.gazebosim.org/tutorials?tut=ros_gzplugins

Jared-Chan commented 2 years ago

Added the plugin to cube_auv instead, since it already has cameras. Chose to use 'GazeboRosImuSensor' instead of 'GazeboRosImu' because the latter's file does not exist.