More realistic than plain constant movement. Implemented with white
noise, low pass filter & feedback term ensuring we stay close enough to
upright.
Tuning knobs maybe not very intuitive at the moment. There are:
- update rates alpha_v, alpha_w (bigger = faster movement)
- amplitudes ampl_v, ampl_w (bigger = larger movement)
- feedback gains pos_gains, attitude_gain (bigger = smaller movement)
maybe we could remove the redundance between the latter two?
Also:
- overload setPlatformVelocity for different inputs
- don't set aircraft pose at all (make sure with environment variable
that it is on platform)
- platform height = 2m defined in sdf file
- rename pose -> navsat to be more precise
- gz submodule update. heavier platform & initial pose.
ca051a46db