83 lines
4.2 KiB
Plaintext
83 lines
4.2 KiB
Plaintext
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<element name="imu" required="0">
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<description>These elements are specific to the IMU sensor.</description>
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<element name="topic" type="string" default="__default_topic__" required="0">
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<description>Topic on which data is published.</description>
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</element>
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<element name="angular_velocity" required="0">
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<description>These elements are specific to body-frame angular velocity,
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which is expressed in radians per second</description>
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<element name="x" required="0">
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<description>Angular velocity about the X axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="y" required="0">
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<description>Angular velocity about the Y axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="z" required="0">
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<description>Angular velocity about the Z axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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</element>
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<element name="linear_acceleration" required="0">
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<description>These elements are specific to body-frame linear acceleration,
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which is expressed in meters per second squared</description>
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<element name="x" required="0">
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<description>Linear acceleration about the X axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="y" required="0">
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<description>Linear acceleration about the Y axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="z" required="0">
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<description>Linear acceleration about the Z axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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</element>
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<!-- THE ELEMENTS BELOW ARE DEPRECATED AND SHOULD BE REMOVED in SDF 1.6 -->
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<element name="noise" required="0">
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<description>The properties of the noise model that should be applied to generated data</description>
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<element name="type" type="string" default="gaussian" required="1">
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<description>The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).</description>
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</element>
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<element name="rate" required="1">
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<description>Noise parameters for angular rates.</description>
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<element name="mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="bias_mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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<element name="bias_stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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</element> <!-- End Rate -->
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<element name="accel" required="1">
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<description>Noise parameters for linear accelerations.</description>
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<element name="mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="bias_mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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<element name="bias_stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
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</element>
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</element> <!-- End Accel -->
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</element> <!-- End Noise -->
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</element>
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