Gazebo Plugin: hebiros_node (v.1.3.0) fails (silently) if urdf is missing Gazebo imu sensor

[josephcoombe]

As of v.1.3.0, urdf needs an imu sensor for each X5/X8 actuator to work with the hebiros node.

This happened last week and I (think) the hebiros node was crashing silently with no useful ROS .log files produced.

---

May be good to check as part of Plugin setup: "ERROR: URDF missing Gazebo imu sensor"
or disable imu data collection if imu sensor missing: "WARNING: URDF missing Gazebo imu sensor. No imu feedback will be produced!"

---

Gazebo Plugin:

  <gazebo reference="HEBI/elbow/INPUT_INTERFACE">
    <selfCollide>true</selfCollide>
    <gravity>true</gravity>
    <sensor name="HEBI/elbow/imu_sensor" type="imu">
      <always_on>true</always_on>
      <update_rate>100</update_rate>
      <visualize>true</visualize>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>/hebiros_gazebo_plugin/imu/HEBI/elbow</topicName>
        <bodyName>HEBI/elbow/imu_link</bodyName>
        <updateRateHZ>10.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0.025 0 0.003</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>HEBI/elbow/imu_link</frameName>
      </plugin>
      <pose>0 0 0 0 0 0</pose>
    </sensor>
  </gazebo>