adding simulation imu

braingram · Feb 5, 2017 · 26ad5a3 · 26ad5a3
1 parent 47e2b9c
commit 26ad5a3
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/stompy_description/urdf/stompy.urdf.xacro b/src/stompy_description/urdf/stompy.urdf.xacro
@@ -5,6 +5,14 @@
   <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
     <robotNamespace>/stompy</robotNamespace>
   </plugin>
+  <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+    <alwaysOn>true</alwaysOn>
+    <bodyName>body_link</bodyName>
+    <topicName>imu</topicName>
+    <serviceName>imu_service</serviceName>
+    <gaussianNoise>0.0</gaussianNoise>
+    <updateRate>20.0</updateRate>
+  </plugin>
  </gazebo>
 
  <xacro:include filename="$(find stompy_description)/urdf/stompyleg_macro.urdf.xacro" />