Simulated IMU

[ruffsl]

I was testing out this package with gazebo and noticed that there was no imu messages being publish like for the real platform: http://docs.fetchrobotics.com/robot_hardware.html#imu

It'd be nice in general to add the IMUs in the gazebo models so I could test out projects like cartographer that use senors fusion with IMUs in simulation. I suppose I could do a PR, but I'm not sure of the IMUs' origin wrt the robot's baselink and arm link.

[ruffsl]

Related issue pending on this enhancement:
cartographer-project/cartographer_fetch#2 (comment)

[moriarty]

Sorry @ruffsl this issue has been neglected a long time.

It's still very low priority but I've tagged @erelson and @ajzeller because they should be able to get the IMUs' origin wrt the robot's base link.

[erelson]

For future reference, internal ticket: HP-2127

If anyone wants to make a PR with dummy values, demonstrating what components of the URDF the they think the IMUs should be linked to, that may make this happen sooner :)