From 1c7ef28139b05a584bdc14ee8fbf8acb9910cc8c Mon Sep 17 00:00:00 2001
From: Michael Wescott <Michael.E.Wescott@Spiritaero.com>
Date: Tue, 18 Nov 2025 13:13:16 -0600
Subject: [PATCH] Add missing Gazebo IMU topic tags for omnidirectional
 platforms

Fixes missing <topic> tag in IMU sensor definitions for R100, DO100,
and DO150 platforms. Without this tag, Gazebo publishes IMU data on
default topic names instead of the namespace-aware topics expected by
ros_gz_bridge, causing IMU data to not reach ROS 2 in simulation.

This issue only affected omnidirectional platforms (mecanum wheel
configurations). Differential drive platforms (J100, W200, DD100, DD150)
were already fixed in v0.2.10.

Tested on R100 platform with Gazebo Harmonic and ROS 2 Jazzy.
IMU data now successfully bridges to /r100_0000/sensors/imu_0/data_raw
and is consumed by ekf_localization_node for sensor fusion.
---
 clearpath_platform_description/urdf/do100/do100.urdf.xacro | 1 +
 clearpath_platform_description/urdf/do150/do150.urdf.xacro | 1 +
 clearpath_platform_description/urdf/r100/r100.urdf.xacro   | 1 +
 3 files changed, 3 insertions(+)

diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
index be1a8219..e9944cca 100644
--- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro
+++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
@@ -96,6 +96,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+	<topic>$(arg namespace)/sensors/imu_0/data_raw</topic>        
       </sensor>
     </gazebo>
 
diff --git a/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
index 3a3ffd35..c2329bd4 100644
--- a/clearpath_platform_description/urdf/do150/do150.urdf.xacro
+++ b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
@@ -96,6 +96,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+        <topic>$(arg namespace)/sensors/imu_0/data_raw</topic>
       </sensor>
     </gazebo>
 
diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
index dc8f9ac0..6ada8bae 100644
--- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro
+++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
@@ -262,6 +262,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+        <topic>$(arg namespace)/sensors/imu_0/data_raw</topic>
       </sensor>
     </gazebo>