ItsJas
commented
7 years ago well, I was trying lately to fix the problem but I'm getting a strange behavior, For instance I added <frameName>imu_link</frameName> in the imusensor_gazebo.urdf file , but this worked only when setting name="imu0" or anything else different from "imu" in the robot urdf when including the imu sensor.
but when name="imu" is used the frame id is base_footprint and not imu_link. I was wondering if some one else is facing the same problem!
Hi , It's not an issue , it's just a question. Thanks! this code is very helpful. I'm trying to add an imu to my robot's simulation so I'm following what you did in "eklavya_description". For instance I copied "imu.urdf.xacro" and " imusensor_gazebo.urdf.xacro along side my urdf files and copied the specific lines talking about imu from " base.urdf.xacro" to "myrobot.urdf.xacro". Gazebo is now publishing imu data in the /imu node, but the frame id is different from what I expected, it is base_footprint and not imu_link. I don't know how to fix it. I already verified the codes and it's set to imu_link everywhere. So is it that I'm missing out some settings or is there any way to change the frame_id because I do need it to be imu_link to be compatible with the packages I'm working with. Any help would be appreciated!