VREP_PLUGIN_IMU

WHY SHOULD I USE IT

You need to publish imu infoes from VREP with sensor_msgs/Imu messages

INSTALLATION

• clone the repository in your ros_package directory (e.g. ~/catkin_ws/src/ros_package/ )

  cd catkin_ws/src/ros_packages

  git clone https://github.com/bartville/vrep_plugin_imu.git

• compile the plugin

  cd ~/catkin_ws

  catkin_make --pkg vrep_plugin_imu

  it will generate a shared object in your devel/lib directory.

• Copy the generated library libv_repExtImu.so in your Vrep root

  cp ~/catkin_ws/devel/lib/libv_repExtImu.so YOUR-VREP-ROOT-DIRECTORY

• Launch roscore, then launch vrep, and check if Imu has been successfully loaded.

  Use the Imu model in the attached scene, Imu.ttt. (copy the whole model, accelerometer and gyro are in the tree)

• Start your simulation.

  Praise the Sun.

  check if imu topic is publishing

  rostopic echo /vrep/imu