Class GazeboRosImuSensor

Defined in File gazebo_ros_imu_sensor.hpp

Inheritance Relationships

Base Type

public SensorPlugin

Class Documentation

class gazebo_plugins::GazeboRosImuSensor : public SensorPlugin

Plugin to attach to a gazebo IMU sensor and publish ROS message of output.

Example Usage:

<sensor name="my_imu" type="imu">
  <!-- ensure the sensor is active (required) -->
  <always_on>true</always_on>
  <update_rate>30</update_rate>
  <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
    <ros>
      <!-- publish to /imu/data -->
      <namespace>/imu</namespace>
      <remapping>~/out:=data</remapping>
    </ros>
  </plugin>
</sensor>

Public Functions

GazeboRosImuSensor(): Constructor.

virtual ~GazeboRosImuSensor(): Destructor.

void Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override