jitrc / eklavya2015-ros-pkg Goto Github PK

Hi ,
It's not an issue , it's just a question.
Thanks! this code is very helpful. I'm trying to add an imu to my robot's simulation so I'm following what you did in "eklavya_description". For instance I copied "imu.urdf.xacro" and " imusensor_gazebo.urdf.xacro along side my urdf files and copied the specific lines talking about imu from " base.urdf.xacro" to "myrobot.urdf.xacro".
Gazebo is now publishing imu data in the /imu node, but the frame id is different from what I expected, it is base_footprint and not imu_link. I don't know how to fix it. I already verified the codes and it's set to imu_link everywhere. So is it that I'm missing out some settings or is there any way to change the frame_id because I do need it to be imu_link to be compatible with the packages I'm working with.
Any help would be appreciated!