set covariance to 0 by default.

Signed-off-by: Alaa El Jawad <[email protected]>
gazebosim · Aug 23, 2023 · de0e49b · de0e49b
1 parent 8a0fa77
commit de0e49b
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
@@ -272,7 +272,7 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
         return static_cast<float>(gaussian->StdDev() * gaussian->StdDev());
       }
     }
-    return 0.001f;
+    return 0.0f;
   };
 
   {
@@ -288,9 +288,9 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
         4, getCov(GYROSCOPE_Y_NOISE_RAD_S));
     msg.mutable_angular_velocity_covariance()->set_data(
         8, getCov(GYROSCOPE_Z_NOISE_RAD_S));
-    msg.mutable_orientation_covariance()->set_data(0, 0.001);
-    msg.mutable_orientation_covariance()->set_data(4, 0.001);
-    msg.mutable_orientation_covariance()->set_data(8, 0.001);
+    msg.mutable_orientation_covariance()->set_data(0, 0.0);
+    msg.mutable_orientation_covariance()->set_data(4, 0.0);
+    msg.mutable_orientation_covariance()->set_data(8, 0.0);
   }
 
   if (this->dataPtr->orientationEnabled)