Learning Robotics using Python - Second Edition

Gyroscope plugin

The gyroscope plugin is used to measure the angular velocity of the robot. Using the angular velocity, we can compute the orientation of the robot. The orientation of the robot is used in the robot drive controller for computing the robot's pose, as shown in the following code:

 <gazebo reference="gyro_link"> <sensor type="imu" name="imu"> <always_on>true</always_on> <update_rate>50</update_rate> <visualize>false</visualize> <imu> <noise> <type>gaussian</type> <rate> <mean>0.0</mean> <stddev>${0.0014*0.0014}</stddev> <!-- 0.25 x 0.25 (deg/s) --> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> </rate> <accel> <!-- not used in the plugin and real robot, hence using tutorial values --> <mean>0.0</mean> <stddev>1.7e-2</stddev> ...