I am trying to simulate a custom boat model with PX4 SITL on Gazebo, for which I modified the existing boat.sdf file of the default USV model (it wouldn’t locate the airframe when I put it in a separate file so this is a temporary fix). When the default model is run, the command listener sensor_combined returns
TOPIC: sensor_combined
gyro_rad: [0.00107, -0.01491, 0.00000]
accelerometer_m_s2: [-0.20231, 0.14485, -9.80665]
There is acceleration due to gravity as expected. The command ekf2 status returns
INFO [ekf2] available instances: 1
INFO [ekf2] 0: ACC: 1310988, GYRO: 1310988, MAG: 197388, healthy, test ratio: 0.0124000 (0.00000) *
On replacing only the physical model of the default with mine, with the sensors and plugins retained as-is, the following is the output for listener sensor_combined
TOPIC: sensor_combined
gyro_rad: [0.00000, 0.00000, 0.00000]
accelerometer_m_s2: [0.00000, 0.00000, 0.00000]
and for ekf2 status
INFO [ekf2] available instances: 0
WARN [ekf2] selected instance: None
My boat model is physically similar to the default (differential thrust w/ two actuators), so I modified the dimensions, mass, inertias and motor properties and kept the sensors and plugins unchanged. The terminal messages at build time are identical for both models. Where could the issue with the IMU be coming from?