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

asked 2017-08-01 12:38:33 -0500

sezan92 gravatar image

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>
        <headingDrift>0.0</headingDrift>
        <headingGaussianNoise>0.00</headingGaussianNoise>
        <updateRate>100</updateRate>
    </plugin>
</gazebo>
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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by tfoote
close date 2017-11-26 16:02:27.984761