Pull request #200: feat: adding imu sensors for gazebo

Merge in MOCTRL/franka_ros2 from feat/gazebo_imu_sensors_jazzy to jazzy

* commit '1179342fe673056de0c2855aea5a84a52d3e8d5e':
  fix: franka gazebo got deleted

Author: francando

CHANGELOG.rst

@@ -24,6 +24,7 @@ Requires libfranka >= 0.20.4 and franka_description >= 2.4.0 requires ROS 2 Jazz
 * feat: mobile fr3 duo example added
 * refactor: franka example controllers divided into robot types
 * feat: mobile fr3 duo example for gazebo
+* feat: add gazebo sensors xacro in franka_gazebo
 
 v3.2.0 (2026-01-15)
 -------------------

franka_gazebo_bringup/CMakeLists.txt

@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
 # Install project launch files
 install(
   DIRECTORY
-    launch config
+    launch config urdf
   DESTINATION share/${PROJECT_NAME}
 )
 

franka_gazebo_bringup/launch/visualize_franka_robot.launch.py

@@ -36,10 +36,9 @@ def get_robot_description(context: LaunchContext, robot_type, load_gripper, fran
     franka_hand_str = context.perform_substitution(franka_hand)
 
     franka_xacro_file = os.path.join(
-        get_package_share_directory('franka_description'),
-        'robots',
-        robot_type_str,
-        robot_type_str + '.urdf.xacro'
+        get_package_share_directory('franka_gazebo_bringup'),
+        'urdf',
+        'franka_arm.gazebo.xacro'
     )
 
     robot_description_config = xacro.process_file(

franka_gazebo_bringup/urdf/franka_arm.gazebo.xacro

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="franka_arm_gazebo">
+    <xacro:arg name="robot_type" default="fr3"/>
+
+    <!-- Include base robot fr3 -->
+    <xacro:include filename="$(find franka_description)/robots/$(arg robot_type)/$(arg robot_type).urdf.xacro"/>
+
+    <!-- Include gazebo macros -->
+    <xacro:include filename="$(find franka_gazebo_bringup)/urdf/sensors.xacro"/>
+
+    <!-- Arm IMUs -->
+    <!-- arm prefix is inherited from the franka_description xacro -->
+    <xacro:franka_gazebo_arm_imus arm_prefix="$(arg arm_prefix)" robot_type="$(arg robot_type)" imu_side="top"/>
+    <xacro:franka_gazebo_arm_imus arm_prefix="$(arg arm_prefix)" robot_type="$(arg robot_type)" imu_side="bottom"/>
+
+</robot>

franka_gazebo_bringup/urdf/sensors.xacro

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+
+    <!-- Franka Gazebo IMU -->
+    <xacro:macro name="franka_gazebo_imu" params="link_target gz_topic rate:=100">
+        <gazebo reference="${link_target}">
+            <sensor name="${link_target}" type="imu">
+                <topic>${gz_topic}</topic>
+                <always_on>true</always_on>
+                <update_rate>${rate}</update_rate>
+                <visualize>false</visualize>
+                <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu"/>
+            </sensor>
+      </gazebo>
+    </xacro:macro>
+
+    <!-- Franka Gazebo Arm IMUs -->
+    <!-- Every joint has an IMU on both sides of the pcb -->
+    <xacro:macro name="franka_gazebo_arm_imus" params="arm_prefix robot_type imu_side">
+        <xacro:property name="prefix" value="${arm_prefix + '_' if arm_prefix else '' + robot_type}"/>
+        <xacro:franka_gazebo_imu link_target="${prefix}_link0_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link0/${imu_side}"/> 
+        <xacro:franka_gazebo_imu link_target="${prefix}_link1_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link1/${imu_side}"/>
+        <xacro:franka_gazebo_imu link_target="${prefix}_link2_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link2/${imu_side}"/>
+        <xacro:franka_gazebo_imu link_target="${prefix}_link3_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link3/${imu_side}"/>
+        <xacro:franka_gazebo_imu link_target="${prefix}_link4_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link4/${imu_side}"/>
+        <xacro:franka_gazebo_imu link_target="${prefix}_link5_accelerometer_${imu_side}" gz_topic="/${prefix}/imu/link5/${imu_side}"/>
+    </xacro:macro>
+
+</robot>