ground_truth added

diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index 8302069..80e3882 100644 (file)
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -135,6 +135,12 @@
       <!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> -->
       <controlPeriod>0.001</controlPeriod>
     </plugin>
+    <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
+           <frameName>map</frameName>
+           <bodyName>twil_origin</bodyName>
+           <topicName>true_odom</topicName>
+           <updateRate>30.0</updateRate>
+   </plugin>
   </gazebo>
 
   <xacro:if value="$(arg d435)">