Gazebo Plugin emulating the yarp imu device in Gazebo. More...

#include <IMU.hh>

Inheritance diagram for gazebo::GazeboYarpIMU:

Collaboration diagram for gazebo::GazeboYarpIMU:

Public Member Functions
	GazeboYarpIMU ()

virtual	~GazeboYarpIMU ()

void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override

Detailed Description

Gazebo Plugin emulating the yarp imu device in Gazebo.

This plugin instantiate a yarp imu driver for the Gazebo simulator and two network wrapper, the yarp::dev::MultipleAnalogSensorsServer and yarp::dev::ServerInertial for maintaining backward compatibility. It is supported also the legacy behaviour of the device-subdevice mechanism; in this case only the ServerInertial is instantiated.

It can be configured using the yarpConfigurationFile sdf tag, that contains a Gazebo URI pointing at a yarp .ini configuration file containing the configuration parameters of the controlBoard.

Here is an example of ini file for load the plugin:

[include "gazebo_icub_robotname.ini"] [WRAPPER] device multipleanalogsensorsserver name /${gazeboYarpPluginsRobotName}/head/inertials period 10

[ADDITIONAL_WRAPPER] device inertial name /${gazeboYarpPluginsRobotName}/inertial period 0.01

[IMU_DRIVER] device gazebo_imu

On the other hand, here is an example of ini file that exploits the legacy behaviour

[include "gazebo_icub_robotname.ini"] name /${gazeboYarpPluginsRobotName}/inertial period 0.01 device inertial subdevice gazebo_imu

Constructor & Destructor Documentation

◆ GazeboYarpIMU()

gazebo::GazeboYarpIMU::GazeboYarpIMU ( )

◆ ~GazeboYarpIMU()

gazebo::GazeboYarpIMU::~GazeboYarpIMU ( )

virtual

Member Function Documentation

◆ Load()

void gazebo::GazeboYarpIMU::Load	(	sensors::SensorPtr	_sensor,
		sdf::ElementPtr	_sdf )

override