From cfcc3397e9e5ce375683ca10759186ae9f854099 Mon Sep 17 00:00:00 2001
From: Raul Cataluna Athayde <raul.cataluna@outlook.com>
Date: Fri, 19 Mar 2021 20:19:55 -0300
Subject: [PATCH] ground_truth added

---
 twil_description/xacro/twil.urdf.xacro | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index 8302069..80e3882 100644
--- 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)">
-- 
2.12.0