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Package Summary

Tags No category tags.
Version 0.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-11-22
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.5.1 (2018-06-29)

  • Merge pull request #44 from esteve/gazebo8 Use Gazebo 8 APIs to avoid deprecation warnings.
  • Fix indent
  • Depend on gazebo_dev instead
  • Use sdf::Time to read time periods from SDF files.
  • Only include math headers when building for Gazebo < 8
  • Use Gazebo 8 APIs to avoid deprecation warnings.
  • Merge pull request #36 from vincentrou/get_fix_status [gazebo_plugins] Ensure to get gps fix status as an int in urdf
  • hector_gazebo_plugins: numeric conversion of NavSatFix status and service from SDF without std::stoi
  • [gazebo_plugins] Ensure to get gps fix status as an int
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: removed catkin_package(DEPENDS gazebo) declaration which was a no-op anyway See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/537.
  • Contributors: Esteve Fernandez, Johannes Meyer, Vincent Rousseau

0.5.0 (2016-06-24)

  • Updated gazebo dependencies to version 7 for kinetic release
  • Contributors: Johannes Meyer

0.4.1 (2016-06-24)

  • see 0.3.8

0.4.0 (2015-11-07)

  • Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5
  • Contributors: L0g1x

0.3.8 (2016-06-24)

  • hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
  • Fix compilation errors and warnings against Gazebo 7
  • Fix
  • Compatible with gazebo7
  • [hector_gazebo_plugins] fix missing dependencies
  • Update odometry with proper covariance data
  • Updates to 2d odom
  • Basics of 2d odom
  • Add gitignore
  • Add Cmake flags for C++11
  • Make force based p gains parameters
  • Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

0.3.7 (2015-11-07)

  • gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
  • gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
  • Contributors: Johannes Meyer, kohlbrecher

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged hector_gazebo_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-11-22
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.5.1 (2018-06-29)

  • Merge pull request #44 from esteve/gazebo8 Use Gazebo 8 APIs to avoid deprecation warnings.
  • Fix indent
  • Depend on gazebo_dev instead
  • Use sdf::Time to read time periods from SDF files.
  • Only include math headers when building for Gazebo < 8
  • Use Gazebo 8 APIs to avoid deprecation warnings.
  • Merge pull request #36 from vincentrou/get_fix_status [gazebo_plugins] Ensure to get gps fix status as an int in urdf
  • hector_gazebo_plugins: numeric conversion of NavSatFix status and service from SDF without std::stoi
  • [gazebo_plugins] Ensure to get gps fix status as an int
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: removed catkin_package(DEPENDS gazebo) declaration which was a no-op anyway See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/537.
  • Contributors: Esteve Fernandez, Johannes Meyer, Vincent Rousseau

0.5.0 (2016-06-24)

  • Updated gazebo dependencies to version 7 for kinetic release
  • Contributors: Johannes Meyer

0.4.1 (2016-06-24)

  • see 0.3.8

0.4.0 (2015-11-07)

  • Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5
  • Contributors: L0g1x

0.3.8 (2016-06-24)

  • hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
  • Fix compilation errors and warnings against Gazebo 7
  • Fix
  • Compatible with gazebo7
  • [hector_gazebo_plugins] fix missing dependencies
  • Update odometry with proper covariance data
  • Updates to 2d odom
  • Basics of 2d odom
  • Add gitignore
  • Add Cmake flags for C++11
  • Make force based p gains parameters
  • Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

0.3.7 (2015-11-07)

  • gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
  • gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
  • Contributors: Johannes Meyer, kohlbrecher

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged hector_gazebo_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-11-22
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.5.1 (2018-06-29)

  • Merge pull request #44 from esteve/gazebo8 Use Gazebo 8 APIs to avoid deprecation warnings.
  • Fix indent
  • Depend on gazebo_dev instead
  • Use sdf::Time to read time periods from SDF files.
  • Only include math headers when building for Gazebo < 8
  • Use Gazebo 8 APIs to avoid deprecation warnings.
  • Merge pull request #36 from vincentrou/get_fix_status [gazebo_plugins] Ensure to get gps fix status as an int in urdf
  • hector_gazebo_plugins: numeric conversion of NavSatFix status and service from SDF without std::stoi
  • [gazebo_plugins] Ensure to get gps fix status as an int
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: removed catkin_package(DEPENDS gazebo) declaration which was a no-op anyway See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/537.
  • Contributors: Esteve Fernandez, Johannes Meyer, Vincent Rousseau

0.5.0 (2016-06-24)

  • Updated gazebo dependencies to version 7 for kinetic release
  • Contributors: Johannes Meyer

0.4.1 (2016-06-24)

  • see 0.3.8

0.4.0 (2015-11-07)

  • Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5
  • Contributors: L0g1x

0.3.8 (2016-06-24)

  • hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
  • Fix compilation errors and warnings against Gazebo 7
  • Fix
  • Compatible with gazebo7
  • [hector_gazebo_plugins] fix missing dependencies
  • Update odometry with proper covariance data
  • Updates to 2d odom
  • Basics of 2d odom
  • Add gitignore
  • Add Cmake flags for C++11
  • Make force based p gains parameters
  • Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

0.3.7 (2015-11-07)

  • gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
  • gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
  • Contributors: Johannes Meyer, kohlbrecher

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged hector_gazebo_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.8
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-06-24
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.3.8 (2016-06-24)

  • hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
  • Fix compilation errors and warnings against Gazebo 7
  • Fix
  • Compatible with gazebo7
  • [hector_gazebo_plugins] fix missing dependencies
  • Update odometry with proper covariance data
  • Updates to 2d odom
  • Basics of 2d odom
  • Add gitignore
  • Add Cmake flags for C++11
  • Make force based p gains parameters
  • Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

0.3.7 (2015-11-07)

  • gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
  • gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
  • Contributors: Johannes Meyer, kohlbrecher

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

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Recent questions tagged hector_gazebo_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.4.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version jade-devel
Last Updated 2016-06-24
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.4.1 (2016-06-24)

  • see 0.3.8

0.4.0 (2015-11-07)

  • Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5
  • Contributors: L0g1x

0.3.8 (2016-06-24)

  • hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23)
  • Fix compilation errors and warnings against Gazebo 7
  • Fix
  • Compatible with gazebo7
  • [hector_gazebo_plugins] fix missing dependencies
  • Update odometry with proper covariance data
  • Updates to 2d odom
  • Basics of 2d odom
  • Add gitignore
  • Add Cmake flags for C++11
  • Make force based p gains parameters
  • Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher

0.3.7 (2015-11-07)

  • gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params
  • gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles)
  • hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh
  • Contributors: Johannes Meyer, kohlbrecher

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged hector_gazebo_plugins at answers.ros.org

Package Summary

Tags No category tags.
Version 0.3.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-09-07
Dev Status MAINTAINED
Released RELEASED

Package Description

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

Additional Links

Maintainers

  • Johannes Meyer

Authors

  • Stefan Kohlbrecher
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Changelog for package hector_gazebo_plugins

0.3.6 (2015-03-21)

  • allow negative offsets in SensorModel dynamic_reconfigure config
  • fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20)
  • reintroduced orientation bias due to accelerometer and yaw sensor drift This orientation bias was removed in 74b21b7, but there is no need for this. The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0.
  • interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) Obviously the SDF conversion assumes that all sensor plugins interpret the <xyzOffset> and <rpyOffset> parameters in the same way as an additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. hector_gazebo_ros_imu interpreted the roll and pitch part of <rpyOffset> as an orientation offset caused by a (small) accelerometer bias. This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message is set to zero.
  • Contributors: Johannes Meyer

0.3.5 (2015-02-23)

  • fixed simulated IMU calibration
  • fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17)
  • added dynamic_reconfigure servers to gps, magneto and sonar plugins The GPS plugin allows to configure the status and server flags in the output message, additionally to the error characteristics. This allows to simulate GPS dropouts.
  • added dynamic_reconfigure server for IMU sensor model parameters
  • fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error
  • calculate angular rate from quaternion difference directly This seems to be numerically more stable and removes the jitter in the angular rate signal.
  • added initial bias
  • added bias publisher to gazebo_ros_imu ...to compare hector_pose_estimation estimates with ground truth. Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation.
  • added scale error to the sensor model and removed linearization in drift update The scale error is assumed to be constant and its value is loaded from the scaleError plugin parameter. The default scale error is 1.0 (no scale error). The value returned by the model is (real_value * scale_error) + offset + drift + noise.
  • fixed wrong calculation of reference earth magnetic field vector if declination!=0
  • Contributors: Johannes Meyer

0.3.4 (2014-09-01)

  • replaced old copied license header in servo_plugin.cpp
  • simplified attitude error calculation in gazebo_ros_imu (fixes #12)
  • fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift
  • linking against catkin_libraries
  • Contributors: Johannes Meyer, Markus Achtelik

0.3.3 (2014-05-27)

0.3.2 (2014-03-30)

  • diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired)
  • diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg
  • Fixed boost 1.53 issues Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast
  • Add servo plugin (used for vision box currently)
  • Add catkin_LIBRARIES to linking for multiwheel plugin
  • Some fixes to make diffdrive_plugin_multi_wheel work properly
  • Work in progress of a diffdrive plugin supporting multiple wheels per side
  • used updated API to get rid of warnings
  • added topicName parameter back to gazebo_ros_magnetic
  • hector_gazebo: deleted deprecated export sections from package.xml files
  • abort with a fatal error if ROS is not yet initialized + minor code cleanup
  • Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347

0.3.1 (2013-09-23)

  • fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset
  • removed warnings due to deprecated sdf API calls

0.3.0 (2013-09-02)

  • Catkinization of stack hector_gazebo

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

Plugins

No plugins found.

Recent questions tagged hector_gazebo_plugins at answers.ros.org