Merge pull request #60 from osrf/chapulina/odom_publisher

Add odometry publisher
osrf · Jun 15, 2022 · ff24da5 · ff24da5
2 parents 738eca8 + f9b6b1e
commit ff24da5
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diff --git a/buoy_gazebo/worlds/buoy_playground.sdf b/buoy_gazebo/worlds/buoy_playground.sdf
@@ -239,6 +239,15 @@
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
       </plugin>
+
+      <plugin
+        filename="ignition-gazebo-odometry-publisher-system"
+        name="ignition::gazebo::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+        <odom_frame>MBARI_WEC/odom</odom_frame>
+        <robot_base_frame>MBARI_WEC/Buoy</robot_base_frame>
+      </plugin>
+
     </model>
   </world>
 </sdf>
diff --git a/buoy_gazebo/worlds/mbari_wec.sdf b/buoy_gazebo/worlds/mbari_wec.sdf
@@ -129,6 +129,15 @@
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
       </plugin>
+
+      <plugin
+        filename="ignition-gazebo-odometry-publisher-system"
+        name="ignition::gazebo::systems::OdometryPublisher">
+        <dimensions>3</dimensions>
+        <odom_frame>MBARI_WEC/odom</odom_frame>
+        <robot_base_frame>MBARI_WEC/Buoy</robot_base_frame>
+      </plugin>
+
     </model>
   </world>
 </sdf>