gazebo_ros_imu always sets frame_id to base_link

asked 2014-01-25 14:46:22 -0600

updated 2014-01-25 14:47:26 -0600

I'm running Gazebo 1.9.2 with the following URDF file:

<?xml version="1.0"?>

<!-- test.urdf -->

<robot name="robot">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0"
               izz="0.000000017"/>
    </inertial>
  </link>
  <gazebo reference="base_link">
    <material>Gazebo/White</material>
  </gazebo>

  <link name="imu">
    <visual>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.000000017" ixy="0" ixz="0" iyy="0.000000017" iyz="0"
               izz="0.000000017"/>
    </inertial>
  </link>
  <gazebo reference="imu">
    <material>Gazebo/White</material>
  </gazebo>

  <joint name="base_link_to_imu" type="fixed">
    <parent link="base_link"/>
    <child link="imu"/>
    <origin xyz="0 0 1"/>
  </joint>

  <gazebo>
    <plugin name="imu" filename="libgazebo_ros_imu.so">
      <bodyName>imu</bodyName>
      <topicName>imu/data</topicName>
      <serviceName>imu/calibrate</serviceName>
    </plugin>
  </gazebo>
</robot>

When I run Gazebo, the messages published to imu/data have "base_link" in their header.frame_id fields, when the field should contain "imu". I replaced the plugin's <gazebo> line with <gazebo reference="imu">, but that caused a syntax error:

    Error [parser.cc:697] XML Element[plugin], child of element[link] not defined in SDF. Ignoring.[link]
    Error [parser.cc:688] Error reading element <link>
    Error [parser.cc:688] Error reading element <model>
    Error [parser.cc:348] Unable to read element <sdf>
    Error [parser.cc:299] parse as old deprecated model file failed.
    Error [World.cc:1469] Unable to read sdf string

I added a ROS_INFO_STREAM() call to gazebo_ros_imu.cpp:

    if (!this->sdf->HasElement("bodyName"))
    {
      ROS_FATAL("imu plugin missing <bodyname>, cannot proceed");
      return;
    }
    else
      this->link_name_ = this->sdf->Get<std::string>("bodyName");
    ROS_INFO_STREAM("this->link_name_ = " << this->link_name_); // This prints "base_link".

This code confirmed that the plugin is getting "base_link" as the value of the bodyName parameter. Am I specifying the IMU plugin incorrectly in the URDF file?

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