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remove drift from sim imu
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@mrinalTheCoder
mrinalTheCoder committed Nov 25, 2024
1 parent 8eabe24 commit c02614d
Showing 1 changed file with 12 additions and 12 deletions.
24 changes: 12 additions & 12 deletions urc_hw_description/urdf/walli_sensors.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -38,24 +38,24 @@
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</z>
</angular_velocity>
Expand All @@ -64,24 +64,24 @@
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
<bias_mean>0.0</bias_mean>
<bias_stddev>0.0</bias_stddev>
</noise>
</z>
</linear_acceleration>
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