ROS GAZEBO
imu 센서값 읽기 예제
hellobird
2019. 5. 6. 20:09
http://answers.gazebosim.org/question/20276/read-imu-sensor-from-a-plugin/
sensors::SensorManager *pMgr = sensors::SensorManager::Instance() ;
if(pMgr == nullptr)
{
/*ERROR*/
}
else
{
sensors::SensorPtr pSensor = pMgr->GetSensor("imu_sensor");
if(pSensor == nullptr)
{
/*ERROR*/
}
else
{
sensors::ImuSensorPtr pImuSensor = dynamic_pointer_cast<sensors::ImuSensor, sensors::Sensor>(pSensor);
if(pImuSensor == nullptr)
{
/*ERROR*/
}
else
{
/*Do something ... for example to read the linear accel from the IMU:*/
ignition::math::Vector3d linearAcceleration = m_pImuSensor->LinearAcceleration();
}
}
}