From ecf5e5fd9ea34acd98193245e008484e7b0cd381 Mon Sep 17 00:00:00 2001
From: Rooholla-Khorrambakht <learn.kho@gmail.com>
Date: Mon, 27 May 2024 23:20:53 -0400
Subject: [PATCH] sensors added to the assets urdf

---
 Go2Py/assets/urdf/go2.urdf                        |  2 +-
 .../ros2_nodes/go2_description/xacro/robot.xacro  | 15 ++++++++++++++-
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/Go2Py/assets/urdf/go2.urdf b/Go2Py/assets/urdf/go2.urdf
index 333096c..7cd83f4 100644
--- a/Go2Py/assets/urdf/go2.urdf
+++ b/Go2Py/assets/urdf/go2.urdf
@@ -660,7 +660,7 @@ Stephen Brawner (brawner@gmail.com)
     </inertial>
   </link>
   <joint name="imu_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.02557 0 0.04232"/>
+    <origin rpy="0.001697 -0.020900 -0.000007" xyz="-0.027353 -0.005499 0.039913"/>
     <parent link="base_link"/>
     <child link="imu_link"/>
     <axis xyz="0 0 0"/>
diff --git a/deploy/ros2_nodes/go2_description/xacro/robot.xacro b/deploy/ros2_nodes/go2_description/xacro/robot.xacro
index 58e8c5e..16a650b 100755
--- a/deploy/ros2_nodes/go2_description/xacro/robot.xacro
+++ b/deploy/ros2_nodes/go2_description/xacro/robot.xacro
@@ -125,7 +125,6 @@
         </visual>
     </link>
 
-
     <joint name="infra2_joint" type="fixed">
         <parent link="trunk"/>
         <child link="infra1_link"/>
@@ -157,6 +156,20 @@
             <!-- <material name="red"/> -->
         </visual>
     </link>
+
+    <link name="utlidar">
+        <inertial>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <mass value="0"/>
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="utlidar_joint" type="fixed">
+        <origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
+        <parent link="base_link"/>
+        <child link="utlidar"/>
+        <axis xyz="0 0 0"/>
+    </joint>
     
     <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1"  front_hind_dae="True"  />
     <xacro:leg name="FL" mirror="1"  mirror_dae="True"   front_hind="1"  front_hind_dae="True"  />