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Gazebo OdometryPublisher

Simulation / Gazebo / plugins

Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odometry data in the form of gz::msgs::Odometry messages. more

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<!-- add to model -->
<model>
  <plugin filename="gz-sim-odometry-publisher-system"
        name="gz::sim::systems::OdometryPublisher">
    <odom_frame>odom</odom_frame>
    <robot_base_frame>base_link</robot_base_frame>
    <odom_topic>/robot/odometry</odom_topic>
    <odom_publish_frequency>50</odom_publish_frequency>
    <!-- default is 2; use 3 for full x,y,z + roll,pitch,yaw odometry -->
    <dimensions>3</dimensions>
  </plugin>
...
</model>

model plugin

Topics

  • /model/my_bot/odometry (gz.msgs.Odometry)
  • /model/my_bot/odometry_with_covariance (gz.msgs.OdometryWithCovariance)
  • /model/my_bot/pose (gz.msgs.Pose_V)

topics name

The default topic name

1
/model/{model_name}/odometry

velocity

Velocity data send only if the entity moving

Config
odom_frame
xyz_offset
rpy_offset
gaussian_noise It only adds noise to the velocity (twist) part of the odometry message.
robot_base_frame
odom_publish_frequency
odom_topic
odom_covariance_topic
tf_topic

Add noise and covariance

The plugin attaches a covariance matrix to pose.covariance and twist.covariance using stddev² (noise variance).

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<plugin
  filename="gz-sim-odometry-publisher-system"
  name="gz::sim::systems::OdometryPublisher">
  <!-- Use 3D odometry -->
  <dimensions>3</dimensions>

  <!-- Publishing frequency -->
  <odom_publish_frequency>50</odom_publish_frequency>

  <!-- Optional custom topics -->
  <!--
  <odom_topic>/my_robot/odom</odom_topic>
  <odom_covariance_topic>/my_robot/odom_with_covariance</odom_covariance_topic>
  -->

  <!-- Add Gaussian noise: standard deviation in meters/rad -->
  <gaussian_noise>0.05</gaussian_noise>
</plugin>

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gz topic --echo -t /model/my_bot/odometry_with_covariance

# just the covariance part 6*6 matrix only the diagonal file with σ²
covariance {
    data: 0.0025
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0.0025
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0.0025
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0.0025
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0.0025
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0
    data: 0.0025
  }

Usage

  • Publish Ground truth