ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-09-06 09:35:52 +02:00
parent 9bbf124e71
commit a27cc6e621
1 changed files with 2 additions and 1 deletions
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description/imu.xacro
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@ -4,10 +4,11 @@
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="chassis"/> <parent link="chassis"/>
<child link="imu_link"/> <child link="imu_link"/>
<origin xyz="${chassis_length/2 - 0.15285} 0 0}" rpy="0 0 0"/> <origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2}" rpy="0 0 0"/>
</joint> </joint>
<link name="imu_link"> <link name="imu_link">
</link> </link>
<gazebo reference="imu_link"> <gazebo reference="imu_link">