IMU Sensor
The document describes inertial measurement unit sensor simulation component.
Prefabs
Path : Assets\AWSIM\Prefabs\Sensors\IMUSensor.prefab
Scripts
All the most important scripts can be found under the Assets\AWSIM\Scripts\Sensors\Imu\*
The table below describes features contained in each provided script:
| script | feature |
|---|---|
| ImuSensor.cs | Core Inertial Measurement Unit Sensor. Measures the Acceleration(m/s^2) and AngularVelocity(rad/s) based on the Transform of the GameObject to which this component is attached to. |
| ImuRos2Publisher.cs | Converts the data output from ImuSensor-specific struct to ROS2 message and publishes it. |
Output Data
The following table describes ImuSensor.OutputData properties:
| field | type | feature |
|---|---|---|
| LinearAcceleration | Vector3 | Measured acceleration (m/s^2) |
| AungularVelocity | Vector3 | Measured angular velocity (rad/s) |
Published Topics
The data output is published to the following topics:
| topic | msg | frame_id | hz | QoS |
|---|---|---|---|---|
/sensing/imu/tamagawa/imu_raw |
sensor_msgs/Imu |
tamagawa/imu_link |
30 |
Reliable, Volatile, Keep last/1000 |