CODEWITHSUNDEEP
rosgazebo-simuimu
koray
koray

Reputation: 21

Increase Frequency of IMU Sensor

I am using an IMU sensor in gazebo. I want to change the frequency of the IMU but it does not change. I changed IMU update_rate also max_step size but there is no difference. Actually, the IMU frequency does not exceed 25 Hz. I want it to be 80 Hz.
What can I do?

Change IMU frequency in igniton-gazebo

<sensor name="imu" type="imu">
        <always_on>1</always_on>
        <update_rate>200</update_rate>
        <visualize>true</visualize>
        <topic>imu</topic>
        <enable_metrics>true</enable_metrics>
      </sensor>

<world name="rovercopter">
    <physics name="1ms" type="ode">
      <max_step_size>0.005</max_step_size>
      <real_time_factor>0.8</real_time_factor>
 <plugin
      filename="ignition-gazebo-imu-system"
      name="ignition::gazebo::systems::Imu">
    </plugin>
</world>

Upvotes: 1

Views: 338

Answers (1)

BTables
BTables

Reputation: 4843

You should make sure your plugin has an update rate specified as well as the imu sensor

<plugin
  filename="ignition-gazebo-imu-system"
  name="ignition::gazebo::systems::Imu">
      <updateRate>80.0</updateRate>
</plugin>

Upvotes: 0

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