updated robot description

2025-04-09 08:01:42 +02:00
parent c8b0ee68e8
commit f61247ff22
6 changed files with 86 additions and 33 deletions
--- a/src/sherpa/urdf/components/imu.xacro
+++ b/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>