From c02614d7c6550d45ef6b0fd2dfab5bc0f4b11540 Mon Sep 17 00:00:00 2001
From: Mrinal Jain <2mrinaljain@gmail.com>
Date: Sun, 24 Nov 2024 19:02:37 -0500
Subject: [PATCH] remove drift from sim imu

---
 urc_hw_description/urdf/walli_sensors.xacro | 24 ++++++++++-----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/urc_hw_description/urdf/walli_sensors.xacro b/urc_hw_description/urdf/walli_sensors.xacro
index a5416eab..2a655b29 100644
--- a/urc_hw_description/urdf/walli_sensors.xacro
+++ b/urc_hw_description/urdf/walli_sensors.xacro
@@ -38,24 +38,24 @@
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </x>
           <y>
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </y>
           <z>
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </z>
         </angular_velocity>
@@ -64,24 +64,24 @@
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </x>
           <y>
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </y>
           <z>
             <noise type="gaussian">
               <mean>0.0</mean>
               <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
+              <bias_mean>0.0</bias_mean>
+              <bias_stddev>0.0</bias_stddev>
             </noise>
           </z>
         </linear_acceleration>