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Merge branch 'master' of github.com:ctu-mrs/mrs_uav_gazebo_simulation
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klaxalk committed Mar 19, 2024
2 parents a9f9ff4 + 789df02 commit 0c4ed31
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Showing 2 changed files with 29 additions and 3 deletions.
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Expand Up @@ -2395,10 +2395,10 @@ limitations under the License.
<!-- imu {-->
{{ generic.imu_sensor_macro(
sensor_name = sensor_name + '_imu',
parent_link = parent_link,
parent_link = sensor_name + '_link',
update_rate = spawner_args[spawner_keyword]['imu_rate'],
topic_name = '/' + spawner_args['name'] + '/' + sensor_name + '/imu',
frame_name = spawner_args['name'] + '/' + sensor_name,
frame_name = spawner_args['name'] + '/' + sensor_name + '_imu',
noise_mean = spawner_args[spawner_keyword]['imu_noise'],
x = 0,
y = 0,
Expand All @@ -2409,6 +2409,14 @@ limitations under the License.
}}
<!--}-->
<!-- static tf {-->
{{ generic.tf_static_macro(
namespace = spawner_args['name'] + '/',
parent_link = sensor_name + "_link",
child_link = sensor_name + "_imu_link")
}}
{# <!--}--> #}
<!-- mount {-->
{{ mount if mount }}
<!--}-->
Expand Down Expand Up @@ -2476,7 +2484,7 @@ limitations under the License.
<!-- imu {-->
{{ generic.imu_sensor_macro(
sensor_name = sensor_name + '_imu',
parent_link = parent_link,
parent_link = sensor_name,
update_rate = spawner_args[spawner_keyword]['imu_rate'],
topic_name = '/' + spawner_args['name'] + '/' + sensor_name + '/imu',
frame_name = spawner_args['name'] + '/' + sensor_name,
Expand All @@ -2490,6 +2498,14 @@ limitations under the License.
}}
<!--}-->
<!-- static tf {-->
{{ generic.tf_static_macro(
namespace = spawner_args['name'] + '/',
parent_link = sensor_name + "_link",
child_link = sensor_name + "_imu_link")
}}
{# <!--}--> #}
<!-- mount {-->
{{ mount if mount }}
<!--}-->
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Expand Up @@ -789,6 +789,16 @@ limitations under the License.
{%- endmacro -%}
{# <!--}--} #}

{# tf static publisher macro {--> #}
{%- macro tf_static_macro(namespace, parent_link, child_link) -%}
<plugin name="{{ parent_link }}_to_{{ child_link }}_tf_plugin" filename="libMrsGazeboCommonResources_LinkStaticTFPublisher.so">
<namespace>{{ namespace }}</namespace>
<parentLink>{{ parent_link }}</parentLink>
<childLink>{{ child_link }}</childLink>
</plugin>
{%- endmacro -%}
{# <!--}--> #}

{# ========================== gazebo plugins ========================= #}

{# gazebo_gps_macro {--> #}
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