This is a 2 part task (first do IMU then do GPS). Both should be added as marcos in the launch file.
Add the IMU to the URDF. Similar to https://navigation.ros.org/setup_guides/odom/setup_odom.html. Add gazebo (and potnetially other required packages to the launch file) so that when you launch the robot, IMU data in simulated. Check that it can publish sensor_msgs/msg/Imu.
For the GPS task, same process. Add the GPS sensor and simulate it in gazebo.
Note that they should be added in this package: src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description (inside the drivetrain_marco.xacro)
wang-edward
commented
11 months ago
Part of the basic autonomy setup.
This is a 2 part task (first do IMU then do GPS). Both should be added as marcos in the launch file.
Add the IMU to the URDF. Similar to https://navigation.ros.org/setup_guides/odom/setup_odom.html. Add gazebo (and potnetially other required packages to the launch file) so that when you launch the robot, IMU data in simulated. Check that it can publish sensor_msgs/msg/Imu.
For the GPS task, same process. Add the GPS sensor and simulate it in gazebo.
Note that they should be added in this package: src/uwrt_mars_rover/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description (inside the drivetrain_marco.xacro)