ikerzamora / rover_sitl_gazebo_plugin Goto Github PK
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Plugin to interface Ardupilot SITL with a ROS/Gazebo simulation of a Rover
When launching both plugins together, simulation crashes
Add the following sensor plugins to the model
Document a tutorial on how to launch the rover and control it (manual+guided)
Rover slides when it is stopped and turns in its place.
APM is not showing IMU orientation properly.
IMU and GPS plugins are not publishing until the simulation is forced to start (from the GUI)
Rover sometimes jumps randomly in APM map
The original model of the rover was in sdf and I needed to insert into the that sdf model the plugins of the sensors; but there is one sensor which is described in xacro which can't be inserted into a sdf model, the IMU sensor. I converted the model from sdf to urdf by using this conversor. But the original sdf model uses revolute2 joints, which are not supported in urdf. And now the model won't spawn.
Solutions tried:
NOTE: the repo has been moved into here.
When turning to the right (yaw == 1900) it turns flawless. But turning to the left (yaw == 1100), makes the rover drift or don't turn at all.
This commit might be the last commit where it worked fine. But I can't find the issue.
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