libhector_gazebo_ros_imu doesn't like namespaces
Hi, I am trying to run a multi-robot simulation, I've got everything working right so far except for the imu which I am using from libhector_gazebo_ros_imu.so
My Macro is like this:
<xacro:macro name="imu_gazebo" params="link imu_topic update_rate">
<link name="${link}" />
<gazebo>
<plugin name="imu_plugin" filename="libhector_gazebo_ros_imu.so">
<updateRate>${update_rate}</updateRate>
<bodyName>${link}</bodyName>
<frameId>${link}</frameId>
<topicName>${imu_topic}</topicName>
<accelDrift>0.0 0.0 0.0</accelDrift>
<accelGaussianNoise>${sqrt(5e-05)} ${sqrt(0.0001)} ${sqrt(0.00013)}</accelGaussianNoise>
<rateDrift>0.0 0.0 0.0</rateDrift>
<rateGaussianNoise>${sqrt(8e-06)} ${sqrt(8e-06)} ${sqrt(3e-07)}</rateGaussianNoise>
<yawDrift>0.0</yawDrift>
<yawGaussianNoise>${sqrt(0.1)}</yawGaussianNoise>
</plugin>
</gazebo>
</xacro:macro>
The topics are published with respect to their namespaces like: /robot1/imu_data and /robot2/imu_data but the frame_id is the same for both: just imu_frame. How can I add the robot namespace to the frame_id of the topic knowing that I am using the same URDF for all the robots.
I am including the macro like this:
<xacro:imu_gazebo link="imu_link" imu_topic="imu_data" update_rate="50.0"/>
Info: my laser scans are configured the same and they work perfectly having unique topics and unique frame names.
How do you include the macro? Can you show the xacro where it is used?