Used sensor independant name in the gazebo xacro macro.

launch/microstrain_imu_sim.launch

@@ -8,14 +8,11 @@
     <arg name="extra_gazebo_args" value=""/>
     <arg name="gui" value="true"/>
     <arg name="recording" value="false"/>
-    <!-- Note that 'headless' is currently non-functional.  See gazebo_ros_pkgs issue #491 (-r arg does not disable
-         rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
-         launch files, but it does nothing. -->
     <arg name="headless" value="false"/>
     <arg name="debug" value="false"/>
     <arg name="physics" value="ode"/>
     <arg name="verbose" value="false"/>
-    <arg name="world_name" value="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
+    <arg name="world_name" value="worlds/empty.world"/> 
     <arg name="respawn_gazebo" value="false"/>
     <arg name="use_clock_frequency" value="false"/>
     <arg name="pub_clock_frequency" value="100"/>
@@ -29,7 +26,6 @@
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
 
-  <!-- Spawn a robot into Gazebo -->
   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model microstrain_imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
 
 </launch>

urdf/imu.gazebo

@@ -3,12 +3,12 @@
   <xacro:macro name="iri_imu_gazebo" params="name config">
     <xacro:property name="properties" value="${load_yaml(config)}"/>
 
-    <gazebo reference="${name}_microstrain_imu">
+    <gazebo reference="${name}_imu">
       <material>Gazebo/Black</material>
     </gazebo>
 
     <gazebo>
-      <plugin name="${name}_microstrain_imu_sim" filename="libhector_gazebo_ros_imu.so">
+      <plugin name="${name}_imu_sim" filename="libhector_gazebo_ros_imu.so">
         <updateRate>${properties['rate']}</updateRate>
         <robotNamespace>${properties['namespace']}</robotNamespace>
         <bodyName>${name}_microstrain_imu</bodyName>