what does <body_name> and <frame_name> tag of gazebo IMU plugin imply?
I am trying to implement a IMU sensor in gazebo using this tutorial :http://gazebosim.org/tutorials?tut=ros_gzplugins
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>10.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
I am assuming that <frame_name> corresponds to the TF name of the link to which sensor is attached . However I am not sure what <body name=""> tag refers to.
It will be very helpful if some one can provide links to a more detailed page where all the tags are explained.
Thank you !
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