Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

libgazebo_ros_imu_sensor with ign gazebo #1536

Open
luxapana opened this issue Jul 13, 2024 · 1 comment
Open

libgazebo_ros_imu_sensor with ign gazebo #1536

luxapana opened this issue Jul 13, 2024 · 1 comment

Comments

@luxapana
Copy link

luxapana commented Jul 13, 2024

Hi all
I am trying to use libgazebo_ros_imu_sensor.so plugin with ros2. The relevent part of urdf is given below:

<gazebo reference="imu_link">
        <sensor name="imu_sensor" type="imu">
            <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
                <ros>
                    <namespace>/demo</namespace>
                    <remapping>~/out:=imu</remapping>
                </ros>
                <initial_orientation_as_reference>false</initial_orientation_as_reference>
            </plugin>
            <always_on>true</always_on>
            <update_rate>100</update_rate>
        </sensor>
    </gazebo>

However, when launched through ros_gz_sim, I do not see any topics such as /demo. I am using ign gazebo. I am getting messages saying libgazebo_ros_imu_sensor is not exposing any symbols.

ruby $(which ign) gazebo-2] [INFO] [1720865080.083022565] [gz_ros2_control]: Loading sensor: imu_sensor
[ruby $(which ign) gazebo-2] Library [/opt/ros/humble/lib/libgazebo_ros_imu_sensor.so] does not export any plugins. The symbol [IgnitionPluginHook] is missing, or it is not externally visible.

what could I be doing wrong? Do these plugins work with ign gazebo?

Thanks

@Muhammad540
Copy link

the namespace should be same as the name you provide to the plugin, in this case it should be "imu_plugin", if you want demo then change the plugin name to "demo"

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

2 participants