updated model

2025-05-09 14:36:42 +02:00
parent a12834557d
commit 3872264bf4
6 changed files with 23 additions and 9 deletions
--- a/src/sherpa/urdf/components/imu.xacro
+++ b/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>