Gazebo classic IMU sensor and ROS2 plugin

urdf
  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
<?xml version="1.0"?>

<robot name="imu_box">
    <gazebo reference="imu_link">
        <material>Gazebo/Red</material>
    </gazebo>




    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.5 0.5 0.5" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <box size="0.5 0.5 0.5" />
            </geometry>
        </collision>
        <inertial>
            <mass value="5.0" />
            <inertia ixx="0.208333" ixy="0" ixz="0" iyy="0.208333" iyz="0" izz="0.208333" />
        </inertial>
    </link>

    <!-- IMU -->
    <link name="imu_link">
        <visual>
            <geometry>
                <box size="0.05 0.03 0.01" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <box size="0.05 0.03 0.01" />
            </geometry>
        </collision>
        <inertial>
            <mass value="0.05" />
            <inertia ixx="4.1667e-06" ixy="0" ixz="0" iyy="4.1667e-06" iyz="0" izz="7.5e-06" />
        </inertial>
    </link>

    <!-- IMU Joint -->
    <joint name="imu_joint" type="fixed">
        <parent link="base_link" />
        <child link="imu_link" />
        <origin xyz="0 0 0.355" rpy="0 -0.707 0" />
    </joint>
    <!-- 1.5707963 -->
    <!-- IMU Plugin -->
    <gazebo reference="imu_link">
        <sensor type="imu" name="imu">
            <always_on>true</always_on>
            <update_rate>50</update_rate>
            <imu>
                <angular_velocity>
                    <x>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.0002</stddev>
                        </noise>
                    </x>
                    <y>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.0002</stddev>
                        </noise>
                    </y>
                    <z>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.0002</stddev>
                        </noise>
                    </z>
                </angular_velocity>
                <linear_acceleration>
                    <x>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.002</stddev>
                        </noise>
                    </x>
                    <y>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.002</stddev>
                        </noise>
                    </y>
                    <z>
                        <noise type="none">
                            <mean>0.0</mean>
                            <stddev>0.002</stddev>
                        </noise>
                    </z>
                </linear_acceleration>
            </imu>
            <plugin name="imu_controller" filename="libgazebo_ros_imu_sensor.so">
                <ros>
                    <namespace>/</namespace>
                    <remapping>~/out:=imu</remapping>
                </ros>
                <alwaysOn>true</alwaysOn>
                <updateRate>50.0</updateRate>
                <initial_orientation_as_reference>false</initial_orientation_as_reference>
                <bodyName>imu_link</bodyName>
                <frameName>imu_link</frameName>
            </plugin>
        </sensor>
    </gazebo>
</robot>