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added imu link joint

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Björn Ellensohn 2023-07-12 10:11:24 +02:00
parent 237e159bb4
commit 6a63ff6b4d
1 changed files with 23 additions and 0 deletions
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23
urdf/diffbot_description.urdf.xacro
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@ -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>