ROS-2-Migration:-IMU-Sensors.md

@@ -7,6 +7,7 @@ This plugin has been removed in ROS2, as the same functionality can be had throu
 ## gazebo_ros_imu_sensor
 * The `<rpyOffset>`/`<xyzOffset>` flags have been removed, instead, create a new link in your robot model with this offset and attach the sensor to this link
 * ```<frameName>``` has been renamed to ```<frame_name>```. Without this set, the frame will default to the sensor's parent link name.
+* ```<initialOrientationAsReference>``` has been renamed to ```<initial_orientation_as_reference>```. This should be set to `false` to comply with [REP 145](https://www.ros.org/reps/rep-0145.html). This parameter was added in [ros-simulation/gazebo_ros_pkgs#1051](https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1051).
 * `<updateRateHz>`/`<updateRate>` has been removed. Instead, set the update rate in the sensor's SDF
 * `<robotNamespace>` has been removed, instead use `<namespace>my_namespace</namespace>`within the `<ros>` tag for the plugin.
 * `<topicName>` has been removed. Instead, use a remapping rule `<argument>~/out:=my_new_topic<argument>` within the `<ros>` tag for the plugin.