Bug with multiple IMU sensor with the same name

[rafal-gorecki]

Hello, I encountered a problem with spawning an IMU with the same name in simulation.

The problem is that when two IMUs have the same name ros2_control imu_manager reads data from the wrong sensor.

This results in the fact that when there are two IMU instances with the same name in the world, the topic imu_broadcaster subscribes to the data from the first sensor.

This is well demonstrated in the video, where the topic imu/data_raw is the data cast from the simulation (gz_bridge), and imu/data is the data from the imu_broadcaster.

Screencast.from.10-22-2024.01.03.14.PM.webm

I suggested solving this using namespaces, but the topic died. ros-controls/ros2_controllers#1104
Now I have in mind to approach the problem from the other side, but I have no idea how to do it, because the gz code is much less known to me.