From 1dc68946a4a1ccc63f81436bef5a317dec0cde95 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 17 Mar 2022 01:18:43 -0300
Subject: [PATCH] Add ground truth plugin.

---
 twil_description/xacro/twil.urdf.xacro | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index b67f4fc..1d82e71 100644
--- 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>
 
 
-- 
2.12.0