diff --git a/description/imu.xacro b/description/imu.xacro
new file mode 100755
index 0000000..f91a72c
--- /dev/null
+++ b/description/imu.xacro
@@ -0,0 +1,18 @@
+<?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 ${chassis_height/2}" rpy="0 0 0"/>
+    </joint>
+
+    <link name="imu_link">
+    </link>
+
+    <gazebo reference="imu_link">
+        <material>Gazebo/Black</material>
+    </gazebo>
+
+
+</robot>
\ No newline at end of file