GPS sensor in Gazebo #519
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GPS sensor in Gazebo #519
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added 3 commits
December 30, 2020 19:39
Signed-off-by: Dre Westcook <[email protected]>
Signed-off-by: Dre Westcook <[email protected]>
Signed-off-by: Dre Westcook <[email protected]>
ahcorde
requested changes
Dec 30, 2020
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| </y> | ||
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| /* | |||
| * Copyright (C) 2019 Open Source Robotics Foundation | |||
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| * Copyright (C) 2019 Open Source Robotics Foundation | |
| * Copyright (C) 2020 Open Source Robotics Foundation |
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| _in.GpsSensor()->PositionNoise()); | ||
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| _in.GpsSensor()->PositionNoise()); | |
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| _in.GpsSensor()->PositionNoise()); | |
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| /* | |||
| * Copyright (C) 2019 Open Source Robotics Foundation | |||
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| * Copyright (C) 2020 Open Source Robotics Foundation |
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| } | ||
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| // set sensor parent | ||
| std::string parentName = _ecm.Component<components::Name>( |
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| } | |
| // set sensor parent | |
| std::string parentName = _ecm.Component<components::Name>( | |
| } | |
| // set sensor parent | |
| std::string parentName = _ecm.Component<components::Name>( |
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| /* | |||
| * Copyright (C) 2019 Open Source Robotics Foundation | |||
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| * Copyright (C) 2019 Open Source Robotics Foundation | |
| * Copyright (C) 2020 Open Source Robotics Foundation |
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| EntityComponentManager &_ecm) final; | ||
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| /// Documentation inherited |
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| EntityComponentManager &_ecm) final; | |
| /// Documentation inherited | |
| EntityComponentManager &_ecm) final; | |
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| /* | |||
| * Copyright (C) 2019 Open Source Robotics Foundation | |||
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| * Copyright (C) 2019 Open Source Robotics Foundation | |
| * Copyright (C) 2020 Open Source Robotics Foundation |
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| // velocity should be negative in z | ||
| //EXPECT_GT(velocities.front().Z(), velocities.back().Z()); | ||
| //EXPECT_LT(velocities.back().Z(), 0.0); | ||
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| // check gps sensor data | ||
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| /* | ||
| // vertical position = world position - intial position | ||
| // so since gps is falling, vertical position should be negative | ||
| EXPECT_GT(firstMsg.vertical_position(), | ||
| lastMsg.vertical_position()); | ||
| EXPECT_LT(lastMsg.vertical_position(), 0.0); | ||
| // vertical velocity should be negative | ||
| EXPECT_GT(firstMsg.vertical_velocity(), | ||
| lastMsg.vertical_velocity()); | ||
| EXPECT_LT(lastMsg.vertical_velocity(), 0.0); | ||
| */ |
ahcorde
added
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needs upstream release
This was referenced Dec 13, 2021
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Related issue:
gazebosim/gz-sensors#23
My pull requests: (This PR would depend on the following: )
gazebosim/gz-sensors#72
(which then depends on)
gazebosim/sdformat#453
Use the ign-sensor::Gps in the gazebo sim by creating a Gps-system
This was by far the hardest one to get going, not least due to the "binary/source" issue as mentioned by gazebosim/gz-tools#8
As mentioned on the sdformat issue, I've only made two simple noise systems that get applied unilaterally to each of the components.. If this doesn't suite I could change it.
I'm also really hoping that the use of
sphericalCoords.PositionTransform()was correct because I wasn't quite sure on how it's meant to be used; or what a better way to use it ( ie: should the GPS store it's data in a SphericalCoords Type? )Some notes: