From 0e8d219eef6c7a823d77e6deabf1d89e261e3b77 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Wed, 12 Oct 2016 17:27:17 +0200
Subject: [PATCH] Fix the IMU orientation in the 2D backpack URDF. (#103)

---
 cartographer_ros/urdf/backpack_2d.urdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cartographer_ros/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf
index a976783..478a311 100644
--- a/cartographer_ros/urdf/backpack_2d.urdf
+++ b/cartographer_ros/urdf/backpack_2d.urdf
@@ -60,7 +60,7 @@
   <joint name="imu_link_joint" type="fixed">
     <parent link="base_link" />
     <child link="imu_link" />
-    <origin xyz="0 0 0" rpy="0 0 3.141593" />
+    <origin xyz="0 0 0" />
   </joint>
 
   <joint name="horizontal_laser_link_joint" type="fixed">