Unable to set gazebo_ros_imu rpyOffset, xyzOffset

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Original report (archived issue) by YURT Development Team (Bitbucket: TheLegace).

The original report had attachments: sensors.urdf

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I have been trying to get the libgazebo_ros_imu.so plugin to work in gazebo, and it seems to come up just fine, but now I would like to modify the rpyOffsets, because for whatever reason the imu orientation coming from rostopic echo shows that it is negative by some offset. Essentially I am trying to run it the same way it is in typically done in what I have seen in examples.

But I get this error:

Error [parser_urdf.cc:72] xml key [xyzOffset][0] value [xyzOffset] is not a valid double from a 3-tuple

Error [parser_urdf.cc:72] xml key [rpyOffset][0] value [rpyOffset] is not a valid double from a 3-tuple

I cannot seem to figure out how to modify that parameter for the IMU plugin. Attached is the set of sensors I am trying to use with gazebo.

[osrf-migration]

Original comment by YURT Development Team (Bitbucket: TheLegace).

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• Edited issue description

[osrf-migration]

Original comment by YURT Development Team (Bitbucket: TheLegace).

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• Edited issue description

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "on hold"

Until after June, 2013.

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "on hold" to "open"

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed priority from "major" to "minor"

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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What version of gazebo, sdformat and gazebo_ros_pkgs are you using? I am running gazebo 1.9, gazebo_ros_pkgs 2.4.1 and sdformat 1.4.7, and the urdf file attached spawned fine.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "open" to "new"