Read IMU sensor from a plugin

imu
plugin

asked 2018-08-20 10:01:27 -0600

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Hello,

I made a model of a robot and I added and IMU sensor to it in the sdf file as follow:

   <sensor name="imu_sensor" type="imu">
    <pose>0 0 0 0 0 0</pose>
    <always_on>1</always_on>
    <update_rate>100.0</update_rate>
  </sensor>

I'm controlling my robot using a plugin I wrote and everything is working fine, but I would like to read the IMU sensor data inside my plugin's code. I know that I can subscribe to the topic of the IMU ("~/gazebo/default/imu_sensor/imu") and read from there, but I'm wondering how can I get from code an instance of the IMU sensor object and read the IMU like I read the pose of the model.

Basically my question is: How can I read the IMU data using an instance of an IMU object in the model? I guess should be something like below, but I don't know how to glue everything together yet.

ImuSensor imu;
double acc = imu.GetLinearAcceleration();

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I'm wondering why do you want to do that? Why not just subscribe to the topic?

arifrahman ( 2018-08-21 02:48:32 -0600 )edit

The reason is that in my plugin I'm collecting some data ( including imu ) to send out in another message and I don't want to synchronize the data from the imu topic with the other data. I rather prefer read all the elements/data I need at the "same time".

maikelo ( 2018-08-22 09:08:36 -0600 )edit

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sensors::SensorManager *pMgr = sensors::SensorManager::Instance() ; if(pMgr == nullptr) { /*ERROR*/ } else { sensors::SensorPtr pSensor = pMgr->GetSensor("imu_sensor"); if(pSensor == nullptr) { /*ERROR*/ } else { sensors::ImuSensorPtr pImuSensor = dynamic_pointer_cast<sensors::ImuSensor, sensors::Sensor>(pSensor); if(pImuSensor == nullptr) { /*ERROR*/ } else { /*Do something ... for example to read the linear accel from the IMU:*/ ignition::math::Vector3d linearAcceleration = m_pImuSensor->LinearAcceleration(); } } }

Read IMU sensor from a plugin

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