ground_truth added
authorRaul Cataluna Athayde <raul.cataluna@outlook.com>
Fri, 19 Mar 2021 23:19:55 +0000 (20:19 -0300)
committerRaul Cataluna Athayde <raul.cataluna@outlook.com>
Fri, 19 Mar 2021 23:19:55 +0000 (20:19 -0300)
twil_description/xacro/twil.urdf.xacro

index 8302069..80e3882 100644 (file)
       <!-- <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)">