Fixed uuv_bluerov2_heavy SDF model, adding jinja for multi vehicle simulations #1042
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Adding the iMU link and joint the uuv_bluerov2_heavy model, since it is currently unusable.
Jaeyoung-Lim
requested changes
May 30, 2024
| <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'> | ||
| <robotNamespace/> | ||
| <linkName>uuv_bluerov2_heavy/imu_link</linkName> | ||
| <imuTopic>/imu</imuTopic> | ||
| <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity> | ||
| <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk> |
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Can you remove the sdf file in favor of the jinja template?
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@Jaeyoung-Lim done👍
Deleting the SDF model in favor of the jinja template
Jaeyoung-Lim
approved these changes
Jun 4, 2024
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Currently, the uuv_bluerov2_heavy SDF model is not working in PX4 SITL with Gazebo Classic, since the IMU link & joint are missing. It is impossible even to get the vehicle armed. I have restructured the SDF file to add the IMU, and I also added the jinja file to allow for multi-bluerov2 simulations (the sitl_multiple_run.sh in the PX4-Autopilot repo must be edited to allow this, but I will create a pull request once this is approved).