Gazebo Harmonic IMU sensor source code

khaled · November 5, 2024, 1:20pm

Dears

I am working now on my drone project using Gazebo harmonic.

In my world, I added the plugin required for the drone, one of these is the IMU as follows:

<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system"/>

I was able to launch the gazebo using ros2 launch and also reading the sensor data , or I mean printing them as a log in the console

My question is :
I have built and launched the gazebo from the source code, not binaries, so I am searching for the source code to calculate the IMU sensor values, such as the orientation and linear /angular velocities.

I found the imu.cc, but I guess this was used to read the SDF configuration, and I need your help to find the source code that calculated these readings please.

pedrofz · November 9, 2024, 11:05pm

The code that performs the calculations is defined in the gz::sensors::ImuSensor in the gz-sensors project:

github.com

gazebosim/gz-sensors/blob/gz-sensors8/src/ImuSensor.cc

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#if defined(_MSC_VER)
  #pragma warning(push)
  #pragma warning(disable: 4005)
  #pragma warning(disable: 4251)

This file has been truncated. show original

github.com

gazebosim/gz-sensors/blob/gz-sensors8/include/gz/sensors/ImuSensor.hh

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_SENSORS_IMUSENSOR_HH_
#define GZ_SENSORS_IMUSENSOR_HH_

#include <memory>

This file has been truncated. show original

The file Imu.cc defines a system that manages instances of ImuSensor. For every SDFormat Specification sensor of type=imu in your SDF files, it creates one entity of ImuSensor.

khaled · November 9, 2024, 11:27pm

Thank you very much for your clarification, this is great thank you

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Gazebo Harmonic IMU sensor source code

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