Add ground truth plugin.

diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index b67f4fc..1d82e71 100644 (file)
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -158,6 +158,13 @@
                <robot_param_node>robot_state_publisher</robot_param_node>
                <parameters>$(find twil_description)/config/controller_manager.yaml</parameters>
        </plugin>
+
+       <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
+               <frame_name>world</frame_name>
+               <body_name>twil_origin</body_name>
+               <argument>odom:=ground_truth</argument>
+               <!--update_rate>30</update_rate-->
+       </plugin>
   </gazebo>