IMU sensor (not in ROS)

edit

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