From c00a4edd75e26f61e88810a8297ba2dc5d99be61 Mon Sep 17 00:00:00 2001
From: "Nestor D. Pereira Neto" <nestor-dp@hotmail.com>
Date: Fri, 12 Apr 2024 16:08:51 -0300
Subject: [PATCH] Add gazebo IMU plugin

---
 .../gazebo/littlebot.gazebo.xacro             | 26 ++++++++++++-------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/littlebot_description/gazebo/littlebot.gazebo.xacro b/littlebot_description/gazebo/littlebot.gazebo.xacro
index 2326276..192094d 100644
--- a/littlebot_description/gazebo/littlebot.gazebo.xacro
+++ b/littlebot_description/gazebo/littlebot.gazebo.xacro
@@ -86,21 +86,27 @@
       </joint>
     </ros2_control> -->
 
+       <gazebo>
+
+      <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+        </plugin>
+
+      <plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu">
+        </plugin>
+
+    </gazebo>
+ 
     <!-- Plugin IMU -->
-    <!-- <gazebo reference="imu_link">
+    <gazebo reference="imu_link">
       <sensor name="imu_sensor" type="imu">
-        <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
-          <ros>
-            <namespace>/</namespace>
-            <remapping>~/out:=imu/data_raw</remapping>
-          </ros>
-          <initial_orientation_as_reference>false</initial_orientation_as_reference>
-        </plugin>
-        <always_on>true</always_on>
+        <always_on>1</always_on>
         <update_rate>100</update_rate>
         <visualize>true</visualize>
+        <ignition_frame_id>imu_link</ignition_frame_id>
+        <topic>imu</topic>
       </sensor>
-    </gazebo> -->
+    </gazebo>
 
     <!-- Plugin SONAR -->
     <!-- <xacro:macro name="sonar" params="reference topic_name">