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hello ~

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I think that sdf of waffle model is missing imu joint,
When I running cartographer at gazebo simulation by waffle model , I see odom unstable and the map is badly twisted.
I think one of the causes is imu joint missing . :)
Thank you for your review.
This commit is contained in:
minwoominwoominwoo7 2020-12-07 00:25:02 +09:00
parent c57444d830
commit fc2a5838b6
4 changed files with 36 additions and 0 deletions
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9
turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
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@ -445,6 +445,15 @@
<child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>

9
turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
View File

@ -445,6 +445,15 @@
<child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>

9
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4.sdf
View File

@ -445,6 +445,15 @@
<child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>

9
turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
View File

@ -445,6 +445,15 @@
<child>caster_back_left_link</child>
</joint>
<joint name="imu_joint" type="fixed">
<parent>base_link</parent>
<child>imu_link</child>
<pose>-0.032 0 0.068 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint name="lidar_joint" type="fixed">
<parent>base_link</parent>
<child>base_scan</child>