# How to get Angular and Linear Velocity from imu Sensor? [closed]

Hello , I am working on a robots' simulation in Gazebo . I have added Gazebo Ros Imu plugin. It publishes the orientations perfectly . but always gives the value of Linear Velocity , Angular Velocity to be zeros .. which is not correct! What am I missing? My plugin code is as follows

<gazebo>
<plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
<alwaysOn>true</alwaysOn>
<bodyName>Chassis</bodyName>
<topicName>imu</topicName>
<serviceName>imu_service</serviceName>
<gaussianNoise>0.0</gaussianNoise>
<rpyOffsets>0 0 0</rpyOffsets>
<accelDrift>0.5 0.5 0.5</accelDrift>
<accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
<rateDrift>0.0 0.0 0.0</rateDrift>
<rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>