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IMU sensor (not in ROS)

asked 2013-10-30 05:47:20 -0500

Hi, I am using GAZEBO without ROS and I am trying to add an IMU sensor to myrobot. I have a file myrobot.urdf.xacro in which I have added an imulink and an imujoint. Then in my_robot.gazebo I have the following:

<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
 <always_on>1</always_on>
 <update_rate>1000</update_rate>
 <visualize>true</visualize>
 <topic>__default_topic__</topic>
 <imu>
  <noise>
   <type>gaussian</type>
    <rate>
     <mean>0.0</mean>
     <stddev>2e-4</stddev>
     <bias_mean>0.0000075</bias_mean>
     <bias_stddev>0.0000008</bias_stddev>
    </rate>
    <accel>
     <mean>0.0</mean>
     <stddev>1.7e-2</stddev>
     <bias_mean>0.1</bias_mean>
     <bias_stddev>0.001</bias_stddev>
    </accel>
  </noise>
 </imu>
</sensor>

</gazebo> But when I run my simulation I don't see any IMU relative topic in the list of GAZEBO topics. Am I missing something? Thx!

PS: I am using Gazebo-2.0

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answered 2013-10-30 11:44:36 -0500

Solved, thx.

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Comments

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Could you edit this answer and include what was the problem or how did you solve it? Thanks.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2013-10-30 12:26:45 -0500 )edit

Seconded - I have exactly the same problem!

hangdog gravatar imagehangdog ( 2014-01-03 13:10:58 -0500 )edit
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Asked: 2013-10-30 05:47:20 -0500

Seen: 1,275 times

Last updated: Oct 30 '13