Add macros for crazyflie's sensors

gsilano · Dec 17, 2019 · 5504846 · 5504846
1 parent a9388a7
commit 5504846
Showing 1 changed file with 55 additions and 0 deletions.
diff --git a/rotors_description/urdf/component_snippets.xacro b/rotors_description/urdf/component_snippets.xacro
@@ -867,6 +867,61 @@
     </xacro:imu_plugin_macro>
   </xacro:macro>
 
+  <xacro:macro name="crazyflie2_odometry" params="namespace parent_link">
+      <xacro:odometry_plugin_macro
+        namespace="${namespace}"
+        odometry_sensor_suffix=""
+        parent_link="${parent_link}"
+        pose_topic="pose"
+        pose_with_covariance_topic="pose_with_covariance"
+        position_topic="position"
+        transform_topic="transform"
+        odometry_topic="odometry"
+        parent_frame_id="world"
+        child_frame_id="${namespace}/base_link"
+        mass_odometry_sensor="0.00001"
+        measurement_divisor="10"
+        measurement_delay="0"
+        unknown_delay="0.0"
+        noise_normal_position="0 0 0"
+        noise_normal_quaternion="0 0 0"
+        noise_normal_linear_velocity="0 0 0"
+        noise_normal_angular_velocity="0 0 0"
+        noise_uniform_position="0 0 0"
+        noise_uniform_quaternion="0 0 0"
+        noise_uniform_linear_velocity="0 0 0"
+        noise_uniform_angular_velocity="0 0 0"
+        enable_odometry_map="false"
+        odometry_map=""
+        image_scale="">
+        <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" /> <!-- [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] -->
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      </xacro:odometry_plugin_macro>
+  </xacro:macro>
+
+  <xacro:macro name="crazyflie2_imu" params="namespace parent_link">
+    <!-- Mount an MPU-9250 IMU. -->
+    <xacro:imu_plugin_macro
+      namespace="${namespace}"
+      imu_suffix=""
+      parent_link="${parent_link}"
+      imu_topic="imu"
+      measurement_delay="0"
+      measurement_divisor="1"
+      mass_imu_sensor="0.00001"
+      gyroscope_noise_density="0.000175"
+      gyroscope_random_walk="0.0105"
+      gyroscope_bias_correlation_time="1000.0"
+      gyroscope_turn_on_bias_sigma= "0.09" 
+      accelerometer_noise_density="0.003"
+      accelerometer_random_walk="0.18"
+      accelerometer_bias_correlation_time="300.0"
+      accelerometer_turn_on_bias_sigma="0.588">
+      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </xacro:imu_plugin_macro>
+  </xacro:macro>
+
   <xacro:macro name="default_gps" params="namespace parent_link">
     <!-- Default GPS. -->
     <xacro:gps_plugin_macro