Similar to GPS, we can start the IMU simulation using the following command:

$ roslaunch sensor_sim_gazebo imu.launch

You will get orientation values, linear acceleration, and angular velocity from this plugin. After launching this file, you can list out the topics published by the imu plugin. Here is the list of topics published by this plugin:

Figure 22: List of topics published from the imu ROS plugin

We can check out the /imu topic by echoing the topic. You can find orientation, linear acceleration, and angular velocity data from this topic. The values are shown here:

Figure 23: Data from the /imu topic

If you look at the IMU plugin definition code from sensor_sim_gazebo/urdf/imu.xacro, you can find the name of the plugin and its parameters.

The name of the plugin is mentioned in the following code snippet:

      <gazebo> 
        <plugin name="imu_plugin" filename="libgazebo_ros_imu.so"> 
          <alwaysOn>true</alwaysOn> &...