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Hi @Shiva_uchiha,

First of all I want to clarify that the gazebo_ros_imu plugin is not the same as the gazebo_ros_imu_sensor plugin. The first one is a model plugin and the second one a sensor plugin, hence, they are attach to different things in the simulated model.

Both use the frameName parameter to fill the sensor_msgs::Imu message header the plugins produce.

On the other hand, the bodyName name param is only used by the gazebo_ros_imu plugin to assert that the model to which the plugin is attached exists by that name in the Gazebo world. This has to be done like that to ensure the plugin is properly loaded in the model.

If you have doubst about its fundtioning you cna check the repo github containing the implementation of all official Gazebo plugins here.

Hope it helps you.

Regards.

Hi @Shiva_uchiha,

First of all I want to clarify that the gazebo_ros_imu plugin is not the same as the gazebo_ros_imu_sensor plugin. The first one is a model plugin and the second one a sensor plugin, hence, they are attach to different things in the simulated model.simulation.

Both use the frameName parameter to fill the sensor_msgs::Imu message header the plugins produce.

On the other hand, the bodyName name param is only used by the gazebo_ros_imu plugin to assert that the model to which the plugin is attached exists by that name in the Gazebo world. This has to be done like that to ensure the plugin is properly loaded in the model.

If you have doubst doubts about its fundtioning functioning you cna can check the github repo github containing the implementation of all official Gazebo plugins here.

Hope it helps you.

Regards.