Gazebo simulator - how to get correct robot heading using GazeboRosMagnetic plugin?

[nerdyTurtle]

Hi,

I am using GazeboRosMagnetic sensor plugin from hector_gazebo_plugins and due to some reason it seems to be mounted backwards. Because after reading the heading value, my robot turns and goes backwards when I need it to be facing and moving forwards. I tried changing the offset parameter but that didn't seem to help, maybe I am not using the correct values?

Here's my code:

<plugin name="magnetometer" filename="libhector_gazebo_ros_magnetic.so">
    <updateRate>20.0</updateRate>
    <bodyname>base_footprint</bodyname>
    <topicName>magnetometerStatus</topicName>
    <referenceHeading>0.0</referenceHeading>
    <declination>3.0333</declination>
    <inclination>60.0</inclination>
    <offset>0 0 0</offset>
    <driftFrequency>0 0 0</driftFrequency>
    <gaussianNoise>0 0 0</gaussianNoise>
</plugin>

Any help with this will be highly appreciated!

Many thanks

[Johannes Meyer]

Hi,

your question is not related to Orocos nor ROS control and does not really fit to this group. You should either open an issue at https://github.com/tu-darmstadt-ros-pkg/hector_gazebo/issues if you think it's a bug or post your question at http://answers.gazebosim.org/.

Anyway: The hector_gazebo_ros_magnetic plugin publishes the constant, 3-dimensional earth magnetic field vector relative to the moving model's base frame or whatever other frame you gave in the <bodyName> tag. So it is expected that if the robot turns clock-wise, the vector rotates counter-clockwise and vice-versa. Please add some more details on how you get to a magnetic heading estimate from this information and how this heading would affect your controllers. Also check your spelling: As far as I know SDF tags are case-sensitive.

Kind regards,

Johannes

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Johannes Meyer, Roboticist
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