From 4569ca83025f1bbf61d8d73c4b0d04362fa9cca5 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 8 Jun 2021 10:53:20 +0200
Subject: [PATCH] Add second imu frame. One for simulation and one for the real
imu.
---
urdf/include/sensors.xacro | 13 +++++++++++--
1 file changed, 11 insertions(+), 2 deletions(-)
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index 2a00506..1cc7cd4 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -76,9 +76,18 @@
<origin xyz="0.0 0.0 0.0265" rpy="0 1.0 0" />
</xacro:realsense_d435_depth>
- <xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_bno055_config.yaml">
- <origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
+ <xacro:bno055_imu name="imu_sim" parent="base_footprint" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_bno055_config.yaml">
+ <origin xyz="0.11928 -0.08805 0.23061" rpy="0 0 0" />
</xacro:bno055_imu>
+
+ <link name="imu_bno055">
+ </link>
+
+ <joint name="joint_base_footprint_to_${name}_imu" type="fixed" >
+ <parent link="base_footprint"/>
+ <child link="imu_bno055"/>
+ <origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5709 0" />
+ </joint>
<!--
<link name="${pan_tilt_xacro_properties['load_name']}">
--
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