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?
