Attaching a sensor to a PARTICULAR LINK of an animated actor

Hello, that's my first question here. I'm currently having a really hard time trying to find out a way to connect an IMU sensor to a certain link of an animated actor. I've been experimenting a lot and now I'm posting my last piece of code below. I ended up with IMU as a big cube (just for better visualization) attached to actor's body but not to the link I wanted (`RightLeg`), check out the picture. The IMU link does not appear on the Gazebo links list in `/actor1/*` list. I'm pretty sure that code's template is right but there is probably something wrong with syntax. I don't get any errors while launching the `.world` file that contains following code: 0 1 1.25 0 0 0walk.dae1.00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00.2 0.2 0.2true1001actor1::RightLegimu_basewalk.dae1.000000true0 -5 1.21381.151.85.1cafeground_plane  I checked other questions before, it is kind of related to [15389](http://answers.gazebosim.org/question/15389/attaching-a-sensor-to-an-animated-actor/) and [14006](http://answers.gazebosim.org/question/14006/links-with-animated-dae-files-possible/). Thanks in advance EDIT: As `@chapulina` suggested, I ran `gazebo` in verbose mode and this is the output: [Wrn] [GuiIface.cc:196] g/gui-plugin is really loading a SystemPlugin. To load a GUI plugin please use --gui-client-plugin [ INFO] [1544379941.319388836]: Finished loading Gazebo ROS API Plugin. [ INFO] [1544379941.320842043]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1544379941.391440800]: Finished loading Gazebo ROS API Plugin. [Msg] Waiting for master. [ INFO] [1544379941.392690107]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [Msg] Connected to gazebo master @ http://127.0.0.1:11345 [Msg] Publicized address: 192.168.1.156 [Err] [InsertModelWidget.cc:336] Missing model.config for model "/home/rayvburn/ped_sim_ws/src/incare_people_sim/actor_imu/materials" [Err] [InsertModelWidget.cc:336] Missing model.config for model "/home/rayvburn/ped_sim_ws/src/incare_people_sim/actor_imu/src" [Err] [InsertModelWidget.cc:336] Missing model.config for model "/home/rayvburn/ped_sim_ws/src/people_sim/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace" [ INFO] [1544379942.355888232]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1544379942.371552291]: waitForService: Service [/gazebo/set_physics_properties] is now available. IMU sensor succesfully found [ INFO] [1544379942.476708789]: Physics dynamic reconfigure ready. [ INFO] [1544379942.477415066]: Physics dynamic reconfigure ready. [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&File" under id 56 [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Edit" under id 59 [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Camera" under id 61 [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&View" under id 64 [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Window" under id 68 [Wrn] [GuiIface.cc:117] void DBusMenuExporterPrivate::addAction(QAction*, int): Already tracking action "&Help" under id 73 [Msg] Waiting for model database update to complete... [Err] [ModelDatabase.cc:414] Unable to download model[model://actor_imu/materials/actor_imu.material] [Err] [SystemPaths.cc:449] File or path does not exist[""] [Err] [RenderEngine.cc:475] URI doesn't exist[model://actor_imu/materials/actor_imu.material] [Wrn] [Visual.cc:1076] Unable to get Material[actor_imu/base] for Geometry[actor1::actor1_pose::imu_base_visual. Object will appear white [Err] [ModelDatabase.cc:414] Unable to download model[model://actor_imu/materials/actor_imu.material] [Err] [SystemPaths.cc:449] File or path does not exist[""] [Err] [RenderEngine.cc:475] URI doesn't exist[model://actor_imu/materials/actor_imu.material] [Err] [ModelDatabase.cc:414] Unable to download model[model://actor_imu/materials/actor_imu.material] [Err] [SystemPaths.cc:449] File or path does not exist[""] [Err] [RenderEngine.cc:475] URI doesn't exist[model://actor_imu/materials/actor_imu.material] [Err] [ModelDatabase.cc:414] Unable to download model[model://actor_imu/materials/actor_imu.material] [Err] [SystemPaths.cc:449] File or path does not exist[""] [Err] [RenderEngine.cc:475] URI doesn't exist[model://actor_imu/materials/actor_imu.material] It's strange that it couldn't find the material. `materials/actor_imu.material` is in `actor_imu` folder and `model.config` is directly in the `actor_imu` folder. I also don't get why it tries to look for `model.config` in another package `turtlebot3_simulations`. This is what I put in the `.bashrc`: export CATKIN_WS_PATH=${HOME}/ped_sim_ws export GAZEBO_MODEL_PATH=${CATKIN_WS_PATH}/src/incare_people_sim/actor_imu:$GAZEBO_MODEL_PATH Any further suggestions?