mathewthomas916

<gazebo reference="gps_link">
    <sensor name="gps_sensor" type="gps">
        <always_on>true</always_on>
        <update_rate>1.0</update_rate>
        <plugin name="gps_controller" filename="libgazebo_ros_gps_sensor.so">
            <ros>
                <!-- <namespace>/br</namespace> -->
                <remapping>gps_controller/out:=gps</remapping>
            </ros>
            <frame_name>gps_link</frame_name>

mathewthomas916

<gazebo reference="imu_link">
    <sensor name="br_imu" type="imu">
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>

mathewthomas916

<gazebo>
    <plugin name="t260_emulation" filename="libgazebo_ros_p3d.so">
        <ros>
            <namespace>t260</namespace>
            <remapping>odom:=odom</remapping>
        </ros>
        <frame_name>map</frame_name>
        <body_name>base_link</body_name>
        <update_rate>200.0</update_rate>
        <gaussian_noise>0.01</gaussian_noise>

mathewthomas916

<gazebo>
    <plugin name="bytes_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
      <ros>
        <!-- <namespace>/br</namespace> -->
        <remapping>~/out:=joint_states</remapping>
      </ros>
      <update_rate>30</update_rate>
      <joint_name>left_wheel_joint</joint_name>
      <joint_name>right_wheel_joint</joint_name>
    </plugin>

mathewthomas916

<gazebo>
    <plugin name="bytes_diff_drive" filename="libgazebo_ros_diff_drive.so">

      <ros>
        <!-- <namespace>/br</namespace> -->
      </ros>

      <update_rate>30</update_rate>

      <!-- wheels -->

mathewthomas916

<gazebo reference="${name}_link">
    <sensor type="camera" name="${name}">
        <always_on>true</always_on>
        <update_rate>15.0</update_rate>
        <camera name="${name}">
            <horizontal_fov>1.46608</horizontal_fov>
            <image>
                <width>320</width>
                <height>180</height>
                <format>R8G8B8</format>

mathewthomas916

<gazebo reference="${name}_link">
    <sensor name="${name}" type="depth">
        <always_on>true</always_on>
        <update_rate>15</update_rate>
        <pose>0 0 0 0 0 0</pose>
        <camera name="realsense_depth_camera">
            <horizontal_fov>1.46608</horizontal_fov>
            <image>
                <width>424</width>
                <height>240</height>

mathewthomas916

<gazebo reference="${name}_dist_sensor">
    <sensor name="${name}_ultrasound" type="ray">
        <always_on>true</always_on>
        <visualize>false</visualize>
        <pose>0.0 0 0.0 0 0 0</pose>
        <update_rate>50</update_rate>
        <ray>
            <scan>
                <horizontal>
                    <samples>5</samples>

mathewthomas916

<gazebo reference="scanner_link">
    <sensor name="rplidar_a3" type="ray">
        <always_on>true</always_on>
        <visualize>false</visualize>
        <pose>0.0 0 0.0 0 0 0</pose>
        <update_rate>15</update_rate>
        <ray>
          <scan>
            <horizontal>
              <samples>667</samples>

mathewthomas916

<!-- Add chassis and inertial link -->
<link name="chassis">
    <interial>
        <xacro:chassis_inertial_params/>
    </interial>
    <visual>
        <xacro:chassis_geometry/>
        <material name="white" />
    </visual>
    <collision name="chassis_collision">