/usr/share/sdformat/1.4/imu.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 | <element name="imu" required="0">
<description>These elements are specific to the IMU sensor.</description>
<element name="topic" type="string" default="__default_topic__" required="0">
<description>Topic on which data is published.</description>
</element>
<element name="noise" required="0">
<description>The properties of the noise model that should be applied to generated data</description>
<element name="type" type="string" default="gaussian" required="1">
<description>The type of noise. Currently supported types are: "gaussian" (draw noise values independently for each beam from a Gaussian distribution).</description>
</element>
<element name="rate" required="1">
<description>Noise parameters for angular rates.</description>
<element name="mean" type="double" default="0.0" required="0">
<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="stddev" type="double" default="0.0" required="0">
<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="bias_mean" type="double" default="0.0" required="0">
<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
</element>
<element name="bias_stddev" type="double" default="0.0" required="0">
<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
</element>
</element> <!-- End Rate -->
<element name="accel" required="1">
<description>Noise parameters for linear accelerations.</description>
<element name="mean" type="double" default="0.0" required="0">
<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="stddev" type="double" default="0.0" required="0">
<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="bias_mean" type="double" default="0.0" required="0">
<description>For type "gaussian," the mean of the Gaussian distribution from which bias values are drawn.</description>
</element>
<element name="bias_stddev" type="double" default="0.0" required="0">
<description>For type "gaussian," the standard deviation of the Gaussian distribution from which bias values are drawn.</description>
</element>
</element> <!-- End Accel -->
</element> <!-- End Noise -->
</element>
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