Imu

Inertial Measurement Unit (IMU) devices estimates the rotation of the vehicle with respect to world coordinates. The output of this sensor can bu published using a ImuToROSImu ROS interface.

XML syntax

In order to add an IMU to the scene we just need name and relativeTo information.

• name: This parameters sets the camera name that will identify it.
• relativeTo: The name of the vehicle's link where the camera is attached.
• position: Initial position of the camera with respect to the vehicle's link.
• orientation: Initial rotation of the camera with respect to the vehicle's link, stated in RPY.
• std: Standard deviation of the gaussian noise added to the device.