forked from xtdrone/XTDrone
44 lines
1.4 KiB
XML
44 lines
1.4 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="imu_gazebo">
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.000000166667</ixx>
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<iyy>0.000000166667</iyy>
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<izz>0.000000166667</izz>
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</inertia>
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</inertial>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<parent>link</parent>
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<update_rate>500</update_rate>
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<visualize>true</visualize>
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<topic>imu_gazebo</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>imu_gazebo</topicName>
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<bodyName>imu_link_stereo</bodyName>
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<updateRateHZ>500.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link_stereo</frameName>
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<gyroscopeNoiseDensity>0.0006</gyroscopeNoiseDensity>
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<gyroscopeRandomWalk>0.000003</gyroscopeRandomWalk>
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<gyroscopeTurnOnBiasSigma>0.03</gyroscopeTurnOnBiasSigma>
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<accelerometerNoiseDensity>0.002</accelerometerNoiseDensity>
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<accelerometerRandomWalk>0.00002</accelerometerRandomWalk>
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<accelerometerTurnOnBiasSigma>0.1</accelerometerTurnOnBiasSigma>
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</plugin>
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<pose>0 0 0.3 0 0 0</pose>
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</sensor>
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</link>
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</model>
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</sdf>
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