updated model

src/sherpa/urdf/components/imu.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="imu" params="name parent xyz rpy frequency">
+    <xacro:macro name="imu" params="name parent xyz rpy frequency topic">
 
         <link name="${name}_link">
             <inertial>
@@ -27,7 +27,7 @@
                 <update_rate>${frequency}</update_rate>
                 <gz_frame_id>${name}_link</gz_frame_id>
                 <visualize>true</visualize>
-                <topic>/imu</topic>
+                <topic>${topic}</topic>
             </sensor>
         </gazebo>
     </xacro:macro>

src/sherpa/urdf/components/ouster_lidar.xacro

@@ -141,7 +141,7 @@
         <gazebo reference="${name}_link">
             <sensor name="${name}" type="gpu_lidar">
                 <update_rate>${frequency}</update_rate>
-                <topic>/velodyne_points</topic>
+                <topic>${topic}</topic>
                 <gz_frame_id>${name}_link</gz_frame_id>
                 <lidar>
                     <scan>

src/sherpa/urdf/components/wheel.xacro

@@ -77,8 +77,8 @@
             <child link="${name}_link"/>
             <axis xyz="0 1 0"/>
             <limit 
-                velocity="35"
-                effort="350"
+                velocity="5"
+                effort="30"
             />
             <origin xyz="${xyz}" rpy="${rpy}"/>
         </joint>