From 230f7574e65b661efdf2a09fd9a02142ec736750 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 24 Oct 2018 18:05:26 +0200
Subject: [PATCH] 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 | 1 -
urdf/sensors.xacro | 9 ++++++---
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/urdf/ana.xacro b/urdf/ana.xacro
index c5f2e36..d33d059 100644
--- a/urdf/ana.xacro
+++ b/urdf/ana.xacro
@@ -11,6 +11,5 @@
</xacro:pioneer3>
<xacro:sensors name="$(arg name)" parent="top_plate">
- <origin xyz="0.0 0.0 0.27" rpy="0 0 0" />
</xacro:sensors>
</robot>
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
index 05a11b3..6e2fe0d 100644
--- a/urdf/sensors.xacro
+++ b/urdf/sensors.xacro
@@ -3,8 +3,9 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(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>
--
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