<?xml version="1.0"?>

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

  <xacro:include filename="$(find pr2_description)/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro" />

  <xacro:macro name="microstrain_3dmgx2_imu_v0" params="name parent *origin imu_topic update_rate stdev">
    <joint name="${name}_joint" type="fixed">
      <axis xyz="0 1 0" />
      <xacro:insert_block name="origin" />
      <parent link="${parent}_link"/>
      <child link="${name}_link"/>
    </joint>
    <link name="${name}_link">
      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
      </inertial>
    </link>
    <!-- gazebo extensions -->
    <xacro:microstrain_3dmgx2_imu_gazebo_v0 name="${name}" imu_topic="${imu_topic}" update_rate="${update_rate}" stdev="${stdev}" />
  </xacro:macro>
</robot>

