Imu plugin doesn't report 9.8 m/s^2 for z linear acceleration

[ghost]

Gravity should show up on the z acceleration (assuming model has z pointing up).
I'm running the plugin with no noise.
I get for all the linear acceleration values, stuff that's negligible (10^-15).

[ghost]

#245, @shokoofeh references this fact at the bottom of the thread 2 years ago

[scpeters]

Which ROS distro and gazebo version are you using? We have made some fixes to the IMU in gazebo recently, but I still need to check the ROS plugin.

[ghost]

I was using Gazebo 7 and ROS Kinetic.
The imu message in gazebo is correct (using Topic Visualizer, you see gravity), but the value coming out of the plugin is missing gravity.

[j-rivero]

There is an open pull request (pull #363) implementing a improved version of IMU. It might help you to fix the problem. Please provide feedback in the PR if it works for you. Thanks.