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ROS2 Control imu broadcaster

ROS / ros world / ros control / tutorials

Use ros2_control to broadcast imu sensor

Gazebo simulation

urdf/gazebo.xacro
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <gazebo>
        <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
            <parameters>
                $(find tutorial_bringup)/config/robot_controller.yaml
            </parameters>
        </plugin>

    </gazebo>

    <gazebo reference="second_link">
        <sensor name="link2_imu" type="imu">
            <always_on>1</always_on>
            <update_rate>50</update_rate>
            <visualize>true</visualize>
            <topic>imu-control</topic>
            <enable_metrics>true</enable_metrics>
        </sensor>
    </gazebo>
</robot>
config/controllers.yaml
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controller_manager:
  ros__parameters:
    update_rate: 10

    imu_broadcaster:
      type: imu_sensor_broadcaster/IMUSensorBroadcaster

imu_broadcaster:
  ros__parameters:

    sensor_name: link2_imu
    frame_id: second_link
load controller
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ros2 control load_controller --set-state active imu_broadcaster
launch
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imu_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=["imu_broadcaster"],
        output="screen",
    )

Reference