I am trying to implement my own custom quadcopter and can't find much documentation on the IMU plugin (libgazebo_imu_plugin.cpp)
Using Iris.sdf as a template it looks like I need to define an IMU link which is located at 0,0,0 at connected by a revolute joint to the base link (axis 1,0,0). I put this into my model (a custom quad x) but am not getting valid accelerometer values. (z axis reads -16.xx and -3.xx).
Is there any more info on how this plugin is supposed to be properly implemented onto a model? What is the purpose of the revolute joint?
edit: it turns out the invalid Accel values are tied to my links connected by fixed joints.