Add missing Gazebo IMU topic tags for omnidirectional platforms #286
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Fixes missing <topic> tag in IMU sensor definitions for R100, DO100, and DO150 platforms. Without this tag, Gazebo publishes IMU data on default topic names instead of the namespace-aware topics expected by ros_gz_bridge, causing IMU data to not reach ROS 2 in simulation. This issue only affected omnidirectional platforms (mecanum wheel configurations). Differential drive platforms (J100, W200, DD100, DD150) were already fixed in v0.2.10. Tested on R100 platform with Gazebo Harmonic and ROS 2 Jazzy. IMU data now successfully bridges to /r100_0000/sensors/imu_0/data_raw and is consumed by ekf_localization_node for sensor fusion.
tonybaltovski
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luis-camero
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Dec 12, 2025
tonybaltovski
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