<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="microstrain_3dmgx2_imu_gazebo_v0" params="name imu_topic update_rate stdev">
    <gazebo>
      <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>${update_rate}</updateRate>
        <bodyName>${name}_link</bodyName>
        <topicName>${imu_topic}</topicName>
        <gaussianNoise>${stdev*stdev}</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset> 
        <rpyOffset>0 -180.0 0</rpyOffset>
        <serviceName>/default_imu</serviceName>
      </plugin>
    </gazebo>
  </xacro:macro>

</robot>
