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Available Plugins


This plugin serves as a controller for a 6-wheeled light-weight robot using differential drive.


GazeboRosImu is a replacement for the GazeboRosImu plugin in package gazebo_plugins. It simulates an Inertial Measurement Unit (IMU) affected by Gaussian noise and low-frequency random drift. The orientation returned mimics a simple Attitude and Heading Reference System (AHRS) using the (erroneous) rates and accelerations.

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XML Parameters


GazeboRosGps simulates a GNSS (Global Navigation Satellite System) receiver which is attached to a robot. It publishs sensor_msgs/NavSatFix messages with the robot's position and altitude in WGS84 coordinates. The reference point that corresponds to the origin of the gazebo frame can be configured using the XML parameters. The conversion between gazebo coordinates and WGS84 is done using a simple equirectangular projection, which is accurate enough if you do not go far away from the configured reference point and if you do not want to use the plugin for polar regions.

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XML Parameters


This plugin simulates a 3-axis magnetometer like PNI Corp's MicroMag. Like for the GPS plugin, the orientation of the gazebo frame can be specified via the referenceHeading parameter. Declination, inclination and field magnitude have to be configured depending on your location on earth. The default parameters are valid for Europe and North America without magnitude information (normalized vector). Check http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml for exact parameters.

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XML Parameters


The GazeboRosSonar plugin is a ROS controller for gazebo's built-in ray sensor. The value returned as sonar range is the minimum of all rays, as a sonar ranger returns the distance corresponding to the first echo returned from a object within it's field of view. The behavior of this controller plugin depends mainly on the parameters of the sensor it is attached to.

The <controller:hector_gazebo_ros_sonar> tag is only valid within a surrounding <sensor:ray> tag. You should use the macro defined in sonar_sensor.urdf.xacro in package hector_sensors_description to include a sonar sensor to your model.

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XML Parameters

Sensor Error Model

All simulated sensors from this package use the same generic model for sensor errors like

The parameters are initialized to 0 by default (no sensor error). The default drift frequency is 0.00027 Hz (one hour period).

See also

You can find some more plugins useful for aerial vehicles in package hector_quadrotor_gazebo_plugins.

2024-07-20 13:21