IMU test world

imu_test.world

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">

    <include>
      <uri>model://sun</uri>
    </include>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name="imu_tester">
      <link name="link">
        <pose>0 0 0.05 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>

        <sensor name='sensor' type='imu'>
          <imu>
            <noise>
              <type>gaussian</type>
              <rate>
                <mean>0</mean>
                <stddev>0.0002</stddev>
                <bias_mean>7.5e-06</bias_mean>
                <bias_stddev>8e-07</bias_stddev>
              </rate>
              <accel>
                <mean>0</mean>
                <stddev>0.0001</stddev>
                <bias_mean>0.0</bias_mean>
                <bias_stddev>0.001</bias_stddev>
              </accel>
            </noise>
          </imu>
          <plugin name="imu_test" filename="libImuSensorPlugin.so"/>
        </sensor>
      </link>

    </model>

  </world>
</sdf>