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[caguero] Add pinger plugin to wamv_pinger.xacro #543

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Merged
caguero merged 1 commit into from
Nov 23, 2022
Merged

[caguero] Add pinger plugin to wamv_pinger.xacro #543

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26 changes: 14 additions & 12 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -21,35 +21,37 @@
<child link="${namespace}/${name}"/>
</joint>

<!--
<gazebo>
<plugin name="pinger_plugin" filename="libusv_gazebo_acoustic_pinger_plugin.so">
<frameId>${frameId}</frameId>
<topicName>${namespace}/${sensor_namespace}${pinger_namespace}${name}/range_bearing</topicName>
<setPositionTopicName>${namespace}/${sensor_namespace}${pinger_namespace}${name}/set_pinger_position</setPositionTopicName>
<rangeNoise>
<plugin
filename="libAcousticPingerPlugin.so"
name="vrx::AcousticPingerPlugin">
<position>${position}</position>
<topic>${namespace}/${pinger_namespace}${name}/range_bearing</topic>
<set_position_topic>${namespace}/${pinger_namespace}${name}/set_pinger_position
</set_position_topic>
<frame_id>${namespace}/${name}</frame_id>
<range_noise>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>3.0</stddev>
</noise>
</rangeNoise>
<bearingNoise>
</range_noise>
<bearing_noise>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</bearingNoise>
<elevationNoise>
</bearing_noise>
<elevation_noise>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</elevationNoise>
</elevation_noise>
</plugin>
</gazebo>
-->
</xacro:macro>
</robot>
4 changes: 2 additions & 2 deletions vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@

<!-- Add pinger -->
<xacro:if value="$(arg pinger_enabled)">
<xacro:wamv_pinger name="pinger" position="1.0 0 -1.0" />
<xacro:wamv_pinger name="pinger" position="-528 191 -2.0" />
</xacro:if>

<!-- Add ball shooter (default pitch angle: ~-60 deg) -->
Expand Down Expand Up @@ -194,7 +194,7 @@
<xacro:lidar name="lidar_wamv" type="16_beam"/>

<!-- Add pinger -->
<xacro:wamv_pinger name="pinger" position="1.0 0 -1.0" />
<xacro:wamv_pinger name="pinger" position="-528 191 -2.0" />

<!-- Add ball shooter (default pitch angle: ~-60 deg) -->
<xacro:wamv_ball_shooter name="ball_shooter" x="0.54" y="0.30" z="1.296" pitch="-1.04"/>
Expand Down