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