Removed the origin parameter from the sensors xacro because it was not used.

Used the base_footprint link as the IMU parent because problems with the IMU plugin.

urdf/ana.xacro

@@ -11,6 +11,5 @@
   </xacro:pioneer3>
 
   <xacro:sensors name="$(arg name)" parent="top_plate">
-    <origin xyz="0.0 0.0 0.27" rpy="0 0 0" />
   </xacro:sensors>
 </robot>

urdf/sensors.xacro

@@ -3,8 +3,9 @@
 <root xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find iri_velodyne_lidar_description)/urdf/velodyne_vlp16.xacro" />
   <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />
+  <xacro:include filename="$(find iri_bno055_imu_description)/urdf/bno055_imu.xacro" />
 
-  <xacro:macro name="sensors" params="name parent *origin">
+  <xacro:macro name="sensors" params="name parent">
    
     <link name="${name}_box">
       <inertial>
@@ -17,7 +18,6 @@
       <visual>
         <origin xyz="0 0 0.1" rpy="0 0 0"/>
         <geometry>
-          <!--<mesh filename="package://iri_ana_description/meshes/low_res_ana_payload.stl" />-->
           <box size="0.3 0.3 0.2"/>
         </geometry>
         <material name="DarkGrey">
@@ -27,7 +27,6 @@
       <collision>
         <origin xyz="0 0 0.1" rpy="0 0 0"/>
         <geometry>
-          <!--<mesh filename="package://iri_ana_description/meshes/low_res_ana_payload.stl" />-->
           <box size="0.3 0.3 0.2"/>
         </geometry>
       </collision>
@@ -56,6 +55,10 @@
       <origin xyz="0.0 0.0 0.0265" rpy="0 0.52 0" />
     </xacro:realsense_depth>
 
+    <xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_bno055_config.yaml">
+      <origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
+    </xacro:bno055_imu>
+
   </xacro:macro>
 
 </root>