updated robot description

src/sherpa/urdf/components/imu.xacro

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="imu" params="name parent xyz rpy frequency">
+
+        <link name="${name}_link">
+            <inertial>
+                <mass value="0.01"/>
+                <inertia 
+                    ixx="0.001828"
+                    ixy="0.0"
+                    ixz="0.0"
+                    iyy="0.001828"
+                    iyz="0.0"
+                    izz="0.003528"
+                />
+            </inertial>
+        </link>
+        <joint name="${name}_joint" type="fixed">
+            <parent link="${parent}_link"/>
+            <child link="${name}_link"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <gazebo reference="${name}_link">
+            <sensor name="${name}" type="imu">
+                <always_on>1</always_on>
+                <update_rate>${frequency}</update_rate>
+                <gz_frame_id>${name}_link</gz_frame_id>
+                <visualize>true</visualize>
+                <topic>/imu</topic>
+            </sensor>
+        </gazebo>
+    </xacro:macro>
+</robot>

src/sherpa/urdf/components/mecanum_wheel.xacro

@@ -13,11 +13,11 @@
 
         <!-- get left or right wheel -->
         <xacro:if value="${direction == 'l'}">
-            <xacro:property name="mesh" value="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL"/>
+            <xacro:property name="mesh" value="package://sherpa/urdf/meshes//mecanum_wheel_left.STL"/>
             <xacro:property name="friction_dir" value="-1"/>
         </xacro:if>
         <xacro:if value="${direction == 'r'}">
-            <xacro:property name="mesh" value="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL"/>
+            <xacro:property name="mesh" value="package://sherpa/urdf/meshes//mecanum_wheel_right.STL"/>
             <xacro:property name="friction_dir" value="1"/>
         </xacro:if>
 
@@ -46,18 +46,18 @@
                 <material name="mecanum_wheel_material"/>
             </visual>
             <collision name='collision'>
-            <geometry>
-                <sphere radius="${radius}"/>
-            </geometry>
-            <surface>
-                <friction>
-                <ode>
-                    <mu>1.2</mu>
-                    <mu2>0</mu2>
-                    <fdir1 gz:expressed_in="${parent}">1 ${friction_dir} 0</fdir1>
-                </ode>
-                </friction>
-            </surface>
+                <geometry>
+                    <sphere radius="${radius}"/>
+                </geometry>
+                <surface>
+                    <friction>
+                    <ode>
+                        <mu>1.2</mu>
+                        <mu2>0</mu2>
+                        <fdir1 gz:expressed_in="${parent}_link">1 ${friction_dir} 0</fdir1>
+                    </ode>
+                    </friction>
+                </surface>
             </collision>
         </link>
         <joint name='${name}_joint' type='continuous'>

src/sherpa/urdf/components/ouster_lidar.xacro

@@ -140,11 +140,6 @@
         </joint>
         <gazebo reference="${name}_link">
             <sensor name="${name}" type="gpu_lidar">
-                <plugin
-                    filename="gz-sim-sensors-system"
-                    name="gz::sim::systems::Sensors">
-                    <render_engine>ogre2</render_engine>
-                </plugin>
                 <update_rate>${frequency}</update_rate>
                 <topic>/velodyne_points</topic>
                 <gz_frame_id>${name}_link</gz_frame_id>