gps.sdf
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="gps">
<link name="link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.01</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Black</name>
</script>
</material>
</visual>
<sensor name="gps" type="gps">
<pose>0 0 0 0 0 0</pose>
<update_rate>5.0</update_rate>
<always_on>true</always_on>
<visualize>false</visualize>
<!-- GpsSensor noise currently not used -->
<!-- <gps>
<position_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>0.5</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>1</stddev>
<bias_mean>3</bias_mean>
<bias_stddev>1</bias_stddev>
<precision>1.0</precision>
</noise>
</vertical>
</position_sensing>
<velocity_sensing>
<horizontal>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.1</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.1</bias_stddev>
<precision>0.1</precision>
</noise>
</horizontal>
<vertical>
<noise type="gaussian_quantized">
<mean>0</mean>
<stddev>0.2</stddev>
<bias_mean>0.2</bias_mean>
<bias_stddev>0.2</bias_stddev>
<precision>0.2</precision>
</noise>
</vertical>
</velocity_sensing>
</gps> -->
<plugin name="gps_plugin" filename="libgazebo_gps_plugin.so">
<robotNamespace></robotNamespace>
<gpsNoise>true</gpsNoise>
<gpsXYRandomWalk>2.0</gpsXYRandomWalk>
<gpsZRandomWalk>4.0</gpsZRandomWalk>
<gpsXYNoiseDensity>2.0e-4</gpsXYNoiseDensity>
<gpsZNoiseDensity>4.0e-4</gpsZNoiseDensity>
<gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
<gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
</plugin>
</sensor>
</link>
</model>
</sdf>