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Handle zero USBL noise deviation #57

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Merged
woensug-choi merged 1 commit into from
Sep 8, 2026
Merged

Handle zero USBL noise deviation #57

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27 changes: 20 additions & 7 deletions gazebo/dave_gz_sensor_plugins/src/UsblTransponder.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,11 @@ void UsblTransponder::Configure(
if (_sdf->HasElement("sigma"))
{
this->dataPtr->m_noiseSigma = _sdf->Get<double>("sigma");
if (this->dataPtr->m_noiseSigma < 0.0)
{
gzwarn << "Negative USBL sigma is invalid; using deterministic sigma=0" << std::endl;
this->dataPtr->m_noiseSigma = 0.0;
}
}

// Get transceiver model name
Expand Down Expand Up @@ -257,19 +262,27 @@ void UsblTransponder::Configure(

void UsblTransponder::sendLocation()
{
// randomly generate from normal distribution for noise
std::random_device rd{};
std::mt19937 gen{rd()};
std::normal_distribution<> d(this->dataPtr->m_noiseMu, this->dataPtr->m_noiseSigma);
double noiseX = this->dataPtr->m_noiseMu;
double noiseY = this->dataPtr->m_noiseMu;
double noiseZ = this->dataPtr->m_noiseMu;
if (this->dataPtr->m_noiseSigma > 0.0)
{
std::random_device rd{};
std::mt19937 gen{rd()};
std::normal_distribution<> distribution(this->dataPtr->m_noiseMu, this->dataPtr->m_noiseSigma);
noiseX = distribution(gen);
noiseY = distribution(gen);
noiseZ = distribution(gen);
}

gz::math::Pose3d pose = worldPose(this->dataPtr->linkEntity, *this->dataPtr->ecm);
gz::math::Vector3<double> position = pose.Pos();
auto pub_msg = gz::msgs::Vector3d();
// std::cout << position.X() << " " << position.Y() << " "
// << position.Z() << std::endl;
pub_msg.set_x(position.X() + d(gen));
pub_msg.set_y(position.Y() + d(gen));
pub_msg.set_z(position.Z() + d(gen));
pub_msg.set_x(position.X() + noiseX);
pub_msg.set_y(position.Y() + noiseY);
pub_msg.set_z(position.Z() + noiseZ);
this->dataPtr->m_globalPosPub.Publish(pub_msg);
}

Expand Down
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