fix gazebo sensor plugins for imu

Tractonomy · Jan 7, 2025 · 161c0fe · 161c0fe
1 parent 220e8ff
commit 161c0fe
Show file tree

Hide file tree

Showing 2 changed files with 32 additions and 35 deletions.
diff --git a/realsense2_description/urdf/_d435i_imu_modules.gazebo.xacro b/realsense2_description/urdf/_d435i_imu_modules.gazebo.xacro
@@ -10,7 +10,7 @@ Intel RealSense 435i camera.
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="gazebo_d435i_imu_modules" params="camera_name reference_link accel_optical_frame gyro_optical_frame">
-    
+
     <!-- Load parameters to model's main link-->
     <gazebo reference="${reference_link}">
       <gravity>1</gravity>
@@ -72,26 +72,23 @@ Intel RealSense 435i camera.
             </z>
           </linear_acceleration>
         </imu>
+        <plugin name='${camera_name}_gyro_plugin' filename='libgazebo_ros_imu_sensor.so'>
+          <ros>
+            <remapping>~/out:=${camera_name}/gyro/data_raw</remapping>
+          </ros>
+          <frame_name>${gyro_optical_frame}</frame_name>
+          <initial_orientation_as_reference>false</initial_orientation_as_reference>
+        </plugin>
+        <plugin name='${camera_name}_accel_plugin' filename='libgazebo_ros_imu_sensor.so'>
+          <ros>
+            <remapping>~/out:=${camera_name}/accel/data_raw</remapping>
+          </ros>
+          <frame_name>${accel_optical_frame}</frame_name>
+          <initial_orientation_as_reference>false</initial_orientation_as_reference>
+        </plugin>
       </sensor>
     </gazebo>
 
-    <gazebo>
-      <plugin name='${camera_name}_gyro_plugin' filename='libgazebo_ros_imu_sensor.so'>
-        <ros>
-          <remapping>~/out:=${camera_name}/camera/gyro/sample</remapping>
-        </ros>
-        <frame_name>${gyro_optical_frame}</frame_name>
-        <initial_orientation_as_reference>false</initial_orientation_as_reference>
-      </plugin>
-      <plugin name='${camera_name}_accel_plugin' filename='libgazebo_ros_imu_sensor.so'>
-        <ros>
-          <remapping>~/out:=${camera_name}/camera/accel/sample</remapping>
-        </ros>
-        <frame_name>${accel_optical_frame}</frame_name>
-        <initial_orientation_as_reference>false</initial_orientation_as_reference>
-      </plugin>
-    </gazebo>
-
   </xacro:macro>
 </robot>
 
diff --git a/realsense2_description/urdf/_d455.gazebo.xacro b/realsense2_description/urdf/_d455.gazebo.xacro
@@ -3,10 +3,10 @@
 <!--
 This is the Gazebo URDF model for the Intel RealSense D455 camera
 -->
-  
+
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  
-  <xacro:macro name="gazebo_d455" params="camera_name reference_link depth_optical_frame color_optical_frame infrared1_optical_frame infrared2_optical_frame publish_pointcloud:=true accel_optical_frame gyro_optical_frame" >
+
+  <xacro:macro name="gazebo_d455" params="camera_name reference_link depth_optical_frame color_optical_frame infrared1_optical_frame infrared2_optical_frame publish_pointcloud:=true accel_optical_frame gyro_optical_frame">
 
     <!-- Load parameters to model's main link-->
     <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
@@ -169,6 +169,20 @@ This is the Gazebo URDF model for the Intel RealSense D455 camera
             </z>
           </linear_acceleration>
         </imu>
+        <plugin name='${camera_name}_gyro_plugin' filename='libgazebo_ros_imu_sensor.so'>
+          <ros>
+            <remapping>~/out:=${camera_name}/gyro/data_raw</remapping>
+          </ros>
+          <frame_name>${gyro_optical_frame}</frame_name>
+          <initial_orientation_as_reference>false</initial_orientation_as_reference>
+        </plugin>
+        <plugin name='${camera_name}_accel_plugin' filename='libgazebo_ros_imu_sensor.so'>
+          <ros>
+            <remapping>~/out:=${camera_name}/accel/data_raw</remapping>
+          </ros>
+          <frame_name>${accel_optical_frame}</frame_name>
+          <initial_orientation_as_reference>false</initial_orientation_as_reference>
+        </plugin>
       </sensor>
     </gazebo>
 
@@ -197,20 +211,6 @@ This is the Gazebo URDF model for the Intel RealSense D455 camera
         <pointCloudCutoff>0.25</pointCloudCutoff>
         <pointCloudCutoffMax>9.0</pointCloudCutoffMax>
       </plugin>
-      <plugin name='${camera_name}_gyro_plugin' filename='libgazebo_ros_imu_sensor.so'>
-        <ros>
-          <remapping>~/out:=${camera_name}/camera/gyro/sample</remapping>
-        </ros>
-        <frame_name>${gyro_optical_frame}</frame_name>
-        <initial_orientation_as_reference>false</initial_orientation_as_reference>
-      </plugin>
-      <plugin name='${camera_name}_accel_plugin' filename='libgazebo_ros_imu_sensor.so'>
-        <ros>
-          <remapping>~/out:=${camera_name}/camera/accel/sample</remapping>
-        </ros>
-        <frame_name>${accel_optical_frame}</frame_name>
-        <initial_orientation_as_reference>false</initial_orientation_as_reference>
-      </plugin>
     </gazebo>
 
   </xacro:macro>