在urdf文件中增加imu link

src/robot_description/urdf/robot.urdf

@@ -1,5 +1,4 @@
 <robot name="robot">
-
   <material name="blue">
     <color rgba="0.1 0.1 0.75 0.9"/>
   </material>
@@ -54,6 +53,19 @@
     <child link="base_link"/>
   </joint>
 
+  <link name="base_imu_link" type="fixed">
+    <visual>
+      <geometry>
+        <box size="0.056 0.065 0.002" />
+      </geometry>
+        <material name="blue" />
+    </visual>
+  <joint name="base_link_to_IMU" type="fixed">
+    <origin xyz="0 0 0.10" />
+    <parent link="base_link" />
+    <child link="base_imu_link" />
+  </joint>
+
   <link name="lidar" type="fixed">
     <inertial>
       <origin>

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/base_controller.py

@@ -219,6 +219,7 @@ class BaseController:
 
             # create the odometry transform frame broadcaster.
             # when startup robot_pose_ekf, should disable this broadcaster
+            #
             #self.odomBroadcaster.sendTransform(
             #    (self.x, self.y, 0),
             #    (quaternion.x, quaternion.y, quaternion.z, quaternion.w),