Getting imu_data from jackal in simulation

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Hi,

I am using the Jackal robot from Clearpath. I am running the jackal_gazebo simulation and trying to collect odometry and IMU data. I have written code which has the following:

• publisher, to publish messages to "jackal_velocity_controller/cmd_vel" topic.

• subscriber which subscribes to "jackal_velocity_controller/odom" topic for odometry data and uses a callback function to read from "nav_msgs"

• subscriber which subscribes to "imu_data" topic for imu data and uses a callback to read from "sensors"

The publisher and subscribers connect to the same node. The odometry data is available and gets written into a file. The velocity commands are visible when I do: "rostopic echo /jackal_velocity_controller/cmd_vel" The imu data, however, is not coming through. The code has the jackal moving in a straight line with a linear velocity of 2.0 in the 'x' direction. The other values, including, angular are zeros.

I expected some IMU data to come through in simulation even if the given angular velocity was zero. Am I subscribing to the wrong topic? How can I get the imu data from the jackal in simulation?

Thanks and regards, rsmitha.