IMU sensor

IMUSensor is a component that simulates an IMU (Inertial Measurement Unit) sensor. Measures acceleration (\({m}/{s^2}\)) and angular velocity (\({rad}/{s}\)) based on the transformation of the GameObject to which this component is attached.

Prefab

Assets/Awsim/Entity/EgoVehicle/Imu/ImuSensor.prefab

ImuSensor class

ImuSensor outputs linear acceleration and angular velocity at a configured period.

How to use

Initialize ImuSensor.
Other MonoBehaviour'sFixedUpdate() calls ImuSensor.OnFixedUpdate()

Setting parameters

Type	Parameter	Feature
`int`	`_outputHz`	Period to output.
`bool`	`_enableGravity`	Flag to include gravity in output.

Output data

It is contained in the ImuSensor.IReadOnlyOutputData type.

Type	Parameter	Feature
`Vector3`	`LinearAcceleration`	Acceleration (\({m}/{s^2}\)).
`Vector3`	`AngularVelocity`	Angular velocity (\({rad}/{s}\)).

Add output callback

ImuSensor can add an Action type callback that takes ImuSensor.IReadOnlyOutputData as an argument.

// sample code from ImuRos2Publisher.cs
_gnssSensor.OnOutput += Publish;

ImuRos2Publisher class

ImuRos2Publisher converts the output of ImuSensor to ROS2 and publishes the topic.

Setting parameters

Type	Parameter	Feature
`string`	`_topic`	`geometry_msgs/Pose` msg topic name.
`string`	`_frameID`	Frame ID of ros2.
`QosSettings`	`_qosSettings`	Quality of Service settings of ros2.
`ImuSensor`	`_imuSensor`	Target `ImuSensor` instance.

Default publish topics

ImuRos2Publisher is configured by default with the following two topics publsiih.

Topic	Message type	`frame_id`	`Hz`	`QoS`
`/sensing/imu/tamagawa/imu_raw`	`sensor_msgs/Imu`	`tamagawa/imu_link`	`30`	`Reliable` `Volatile` `Keep last/1000`