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Gazebo plugin read sensor data

World

add plugin in world level
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<plugin
    filename="gz-sim-imu-system"
    name="gz::sim::systems::Imu">
</plugin>
add sensor at link level
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<sensor name="imu_sensor" type="imu">
    <always_on>1</always_on>
    <update_rate>1</update_rate>
    <visualize>true</visualize>
    <topic>imu</topic>
</sensor>

Reference