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Gazebo ROS IMU Bridge

ROS / ros eco / urdf xacro gz plugin / gazebo harmonic / jazzy bridge

Bridge IMU sensor from gazebo to ros

Gazebo

Add imu plugin to world

add imu plugin to world
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<plugin
  filename="gz-sim-imu-system"
  name="gz::sim::systems::Imu">
</plugin>

sdf imu

SDF specification

sensor
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<sensor name="imu" type="imu">
    <always_on>1</always_on>
    <update_rate>50</update_rate>
    <visualize>true</visualize>
    <topic>imu</topic>
    <enable_metrics>true</enable_metrics>
</sensor>

urdf

Don't forget to shroud with <gazebo reference="link name"> tag

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<!-- link -->
<link name="imu_link"/>

<!-- plugin -->
<gazebo reference="imu_link">
  <sensor name="imu" type="imu">
    <always_on>1</always_on>
    <update_rate>50</update_rate>
    <visualize>true</visualize>
    <topic>imu</topic>
    <enable_metrics>true</enable_metrics>
  </sensor>
</gazebo>
gz
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gz topic --echo -t /imu

ROS

cli

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ros2 run ros_gz_bridge parameter_bridge /imu@sensor_msgs/msg/Imu[gz.msgs.IMU
#
 Creating GZ->ROS Bridge: [/imu (gz.msgs.IMU) -> /imu (sensor_msgs/msg/Imu)] (Lazy 0)

bridge file

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- ros_topic_name: "/imu"
  gz_topic_name: "/imu"
  ros_type_name: "sensor_msgs/msg/Imu"
  gz_type_name: "gz.msgs.IMU"
  direction: GZ_TO_ROS

launch

TODO: check this coda again

imu_bridge.launch.py
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from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from pathlib import Path

PKG_BRINGUP = 'turtlebot_bringup'
BRIDGE_CONFIG = "gz_bridge.yaml"
CONFIG_FOLDER = "config"

def generate_launch_description():
    ld = LaunchDescription()

    bridge_file = Path(get_package_share_directory(PKG_BRINGUP)) \
        .joinpath(CONFIG_FOLDER) \
        .joinpath(BRIDGE_CONFIG) \
        .as_posix()

    ros_gz_bridge = Node(
        package="ros_gz_bridge",
        executable="parameter_bridge",
        arguments=[
            '--ros-args',
            '-p',
            f"config_file:={bridge_file}"
        ],
        parameters=[
            {'use_sim_time': True},
            {'qos_overrides./imu.publisher.reliability': 'best_effort'}
        ],
    )

    ld.add_action(ros_gz_bridge)


    return ld