Hello everybody,

after searching the various websites for some days I am not really that much further at implementing a RFID reader in Gazebo. I do know, that Gazebo offers a RFID reader sensor in the 1.9 API, but I am not sure, how to add it to my simulated robot.

<gazebo>
    <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>50.0</updateRate> 
        <bodyName>front_laser_box_link</bodyName>
        <topicName>imu_data</topicName>
        <gaussianNoise>2.89e-08</gaussianNoise>
        <xyzOffsets>0 0 0</xyzOffsets>
        <rpyOffsets>0 0 0</rpyOffsets>
        <position name="imu_position"/>
    </plugin>
</gazebo>

This snippet worked just fine to add the IMU plugin and to enable a ROS topic to access the data.

I would be delighted, if anyone of you could help me or just point me in the right direction ;)

Cheers and thanks in advance.