From 6a63ff6b4d9b2f38717f8a2e6b10a6b6dad5e02e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 12 Jul 2023 10:11:24 +0200
Subject: [PATCH] added imu link joint

---
 urdf/diffbot_description.urdf.xacro | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index dad9792..27e7f8c 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -240,5 +240,28 @@
       <joint_properties friction="0.0"/>
     </joint>
 
+    <!-- imu_link -->
+    <link name="${prefix}imu_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 -0 0" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 -0 0" />
+      </collision>
+      <inertial>
+        <origin xyz="5.3378961738576549005e-07 0.0016484827975361887251 -0.020840554768345870285" rpy="0 0 0"/>
+      </inertial>
+    </link>
+
+    <!-- imu Joint -->
+    <joint name="${prefix}imu_joint" type="fixed">
+      <origin xyz="${base_length / 2 - base_offset} 0 0" rpy="0 0 ${PI}" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}imu_link" />
+      <axis xyz="0 0 1"/>
+      <limit effort="1" velocity="20" />
+      <joint_properties friction="0.0"/>
+    </joint>
+
   </xacro:macro>
 </robot>
\ No newline at end of file