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IMU

  • Add imu plugin in to world scope
  • Add Sensor to link
imu plugin
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<plugin
    filename="gz-sim-imu-system"
    name="gz::sim::systems::Imu">
</plugin>
imu sensor
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<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>
</link>
world with imu 
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<?xml version="1.0"?>
<sdf version="1.6">
  <world name="default">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin
      filename="gz-sim-contact-system"
      name="gz::sim::systems::Contact">
    </plugin>
    <plugin
      filename="gz-sim-imu-system"
      name="gz::sim::systems::Imu">
    </plugin>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="my_box">
      <pose>1 2 0.5 0 0 0</pose> <!-- x y z roll pitch yaw -->
      <static>false</static>

      <link name="box_link">
        <collision name="box_collision">
          <geometry>
            <box>
              <size>1 1 1</size> <!-- x y z dimensions -->
            </box>
          </geometry>
        </collision>

        <visual name="box_visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <ambient>0.1 0.3 0.8 1</ambient>
            <diffuse>0.1 0.3 0.8 1</diffuse>
          </material>
        </visual>

        <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>
      </link>

    </model>
  </world>
</sdf>