cps_rmp220_support/description/imu.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <joint name="imu_joint" type="fixed">
        <parent link="chassis"/>
        <child link="imu_link"/>
        <origin xyz="${chassis_length/2 - 0.15285} 0 0}" rpy="0 0 0"/>
    </joint>

    <link name="imu_link">
    </link>

    <gazebo reference="imu_link">
        <material>Gazebo/Black</material>
    </gazebo>


</robot>
new file: description/imu.xacro 2023-09-06 07:33:47 +00:00			`<?xml version="1.0"?>`
			`<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >`

			`<joint name="imu_joint" type="fixed">`
			`<parent link="chassis"/>`
			`<child link="imu_link"/>`
update 2023-09-06 07:35:00 +00:00			`<origin xyz="${chassis_length/2 - 0.15285} 0 0}" rpy="0 0 0"/>`
new file: description/imu.xacro 2023-09-06 07:33:47 +00:00			`</joint>`

			`<link name="imu_link">`
			`</link>`

			`<gazebo reference="imu_link">`
			`<material>Gazebo/Black</material>`
			`</gazebo>`


			`</robot>`