122 lines
7.1 KiB
Plaintext
122 lines
7.1 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="orientation_reference_frame" required="0">
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<!-- move this under custom_rpy? -->
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<element name="localization" type="string" default="CUSTOM" required="1">
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<description>
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This string represents special hardcoded use cases that are commonly seen with typical robot IMU's:
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- CUSTOM: use Euler angle custom_rpy orientation specification.
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The orientation of the IMU's reference frame is defined by adding the custom_rpy rotation
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to the parent_frame.
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- NED: The IMU XYZ aligns with NED, where NED orientation relative to Gazebo world
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is defined by the SphericalCoordinates class.
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- ENU: The IMU XYZ aligns with ENU, where ENU orientation relative to Gazebo world
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is defined by the SphericalCoordinates class.
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- NWU: The IMU XYZ aligns with NWU, where NWU orientation relative to Gazebo world
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is defined by the SphericalCoordinates class.
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- GRAV_UP: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in
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the opposite direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x.
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Note if grav_dir_x is parallel to gravity direction, this configuration fails.
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Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane
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normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both
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X and Z axis following the right hand rule.
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- GRAV_DOWN: where direction of gravity maps to IMU reference frame Z-axis with Z-axis pointing in
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the direction of gravity. IMU reference frame X-axis direction is defined by grav_dir_x.
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Note if grav_dir_x is parallel to gravity direction, this configuration fails.
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Otherwise, IMU reference frame X-axis is defined by projection of grav_dir_x onto a plane
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normal to the gravity vector. IMU reference frame Y-axis is a vector orthogonal to both
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X and Z axis following the right hand rule.
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</description>
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</element>
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<element name="custom_rpy" type="vector3" default="0 0 0" required="0">
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<description>
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This field and parent_frame are used when localization is set to CUSTOM.
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Orientation (fixed axis roll, pitch yaw) transform from parent_frame to this IMU's reference frame.
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Some common examples are:
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- IMU reports in its local frame on boot. IMU sensor frame is the reference frame.
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Example: parent_frame="", custom_rpy="0 0 0"
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- IMU reports in Gazebo world frame.
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Example sdf: parent_frame="world", custom_rpy="0 0 0"
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- IMU reports in NWU frame.
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Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity;
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i.e. rotation between North-West-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class.
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Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 0"
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- IMU reports in NED frame.
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Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity;
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i.e. rotation between North-East-Down and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class.
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Example sdf given world is NWU: parent_frame="world", custom_rpy="M_PI 0 0"
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- IMU reports in ENU frame.
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Uses SphericalCoordinates class to determine world frame in relation to magnetic north and gravity;
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i.e. rotation between East-North-Up and world (+X,+Y,+Z) frame is defined by SphericalCoordinates class.
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Example sdf given world is NWU: parent_frame="world", custom_rpy="0 0 -0.5*M_PI"
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- IMU reports in ROS optical frame as described in http://www.ros.org/reps/rep-0103.html#suffix-frames, which is
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(z-forward, x-left to right when facing +z, y-top to bottom when facing +z).
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(default gazebo camera is +x:view direction, +y:left, +z:up).
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Example sdf: parent_frame="local", custom_rpy="-0.5*M_PI 0 -0.5*M_PI"
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</description>
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<element name="parent_frame" type="string" default="" required="0">
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<description>
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Name of parent frame which the custom_rpy transform is defined relative to.
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It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame.
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If left empty, use the sensor's own local frame.
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</description>
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</element>
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</element>
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<element name="grav_dir_x" type="vector3" default="1 0 0" required="0">
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<description>
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Used when localization is set to GRAV_UP or GRAV_DOWN, a projection of this vector
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into a plane that is orthogonal to the gravity vector
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defines the direction of the IMU reference frame's X-axis.
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grav_dir_x is defined in the coordinate frame as defined by the parent_frame element.
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</description>
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<element name="parent_frame" type="string" default="" required="0">
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<description>
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Name of parent frame in which the grav_dir_x vector is defined.
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It can be any valid fully scoped Gazebo Link name or the special reserved "world" frame.
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If left empty, use the sensor's own local frame.
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</description>
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</element>
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</element>
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</element>
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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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</element>
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