Gazebo Simulation Tasks: Stage 4

[yqlao]

Goal
Implement IMU and LiDAR plugin in simulation.
Verify that the simulated robot follows the real-world physics and that sensors report data accurately.

Task

1. Physics check

• Compare the Wheel Odometry topic (/odom) against the Gazebo Ground Truth and measure the error

2. Add IMU plugin and verify

• Visualize IMU in RViz2: make sure robot's orientation match when rotating
• Live stream IMU data
• Coordinate frame: check frame ID and make sure confirm the static offset between imu_link and base_link is maintained correctly when you move the robot

3. Add LiDAR and verify

• Visualize LiDAR in RViz2: add laser scan
• CLI: check update frequency and inspect raw data
• Coordinate frame: check frame ID and make sure confirm the static offset between laser_link and base_link is maintained correctly when the robot is moving