IMU Tasks: Stage 1

[yqlao]

Goal
Complete preliminary IMU implementation, generate realistic and noisy IMU data in Gazebo simulation

Task

1. Add a link/joint for the IMU to your robot description file

   • Ensure the position relative to base_link is accurate

2. Add Gazebo Plugin

   • Define the update rate (e.g., 100Hz)
   • Add Gaussian noise

3. Verification

   • Visualize the IMU in RViz
   • Run ros2 topic echo /imu/data to verify orientation and acceleration data

Resources
Rviz: https://wiki.ros.org/rviz_imu_plugin
Gazebo plugin: https://classic.gazebosim.org/tutorials?tut=ros_gzplugins