Add missing Gazebo IMU topic tags for omnidirectional platforms #282
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Fixes missing <topic> tag in IMU sensor definitions for R100, DO100, and DO150 platforms. Without this tag, Gazebo publishes IMU data on default topic names instead of the namespace-aware topics expected by ros_gz_bridge, causing IMU data to not reach ROS 2 in simulation. This issue only affected omnidirectional platforms (mecanum wheel configurations). Differential drive platforms (J100, W200, DD100, DD150) were already fixed in v0.2.10. Tested on R100 platform with Gazebo Harmonic and ROS 2 Jazzy. IMU data now successfully bridges to /r100_0000/sensors/imu_0/data_raw and is consumed by ekf_localization_node for sensor fusion.
Botman-Mike
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luis-camero and
tonybaltovski
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a team
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My repo may be private. Let me know if you can't access it and need more details. The omnidirectional platform IMU's need to be fixed like the other platforms were in a previous issue. |
tonybaltovski
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Nov 18, 2025
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tonybaltovski
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tonybaltovski
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Thanks for catching this! Just one nit but looks good otherwise.
| <update_rate>50</update_rate> | ||
| <visualize>true</visualize> | ||
| <gz_frame_id>imu_0_link</gz_frame_id> | ||
| <topic>$(arg namespace)/sensors/imu_0/data_raw</topic> |
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Can you fix the indent on this please?
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Summary
Adds missing
<topic>tag to IMU sensor Gazebo definitions for omnidirectional platforms (R100, DO100, DO150).Problem
Without the
<topic>tag, Gazebo publishes IMU data on default topic names instead of the namespace-aware topics expected byros_gz_bridge, causing IMU data to not reach ROS 2 in simulation.Expected topic:
/{namespace}/sensors/imu_0/data_rawActual topic (broken):
/world/{world}/model/{namespace}/link/imu_0_link/sensor/imu_0/imuThis breaks sensor fusion in
ekf_localization_nodesince no IMU data is available.Root Cause
Omnidirectional platforms (R100, DO100, DO150) were missing the
<topic>tag that was added to differential drive platforms (J100, W200, DD100, DD150) in v0.2.10.Solution
Add
<topic>$(arg namespace)/sensors/imu_0/data_raw</topic>to the IMU Gazebo sensor block in each platform's URDF to match the pattern used in other platforms.Testing
Platform: R100 (Ridgeback)
ROS 2: Jazzy
Gazebo: Harmonic
Before fix: