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Robot Operating System Cookbook by Kumar Bipin

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Sensors mounting

In this section, we will discuss the different sensors and how these are mounted on the MAVs. Any sensor can be attached to the vehicle in the corresponding Xacro file. In our example, the mav_hoverin_example.launch file loads the robot description from the firefly_generic_odometry_sensor.gazebo file, which adds an odometry sensor to the Firefly, by calling the following:

<xacro:odometry_plugin_macro (here go the macro properties )> 
  <inertia (with i t s properties ) /> 
  <origin (with i t s properties ) /> 
</ xacro:odometry_plugin_macro> 

The macro properties are explained in the component_snippets.xacro file. Properties present in all of RotorS sensor macros are:

  • namespace: ROS namespace assigned to given sensor
  • parent_link ...

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