From 4f7b3dc464ec696d3584c8728b77a61808f65c01 Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Mon, 24 Oct 2022 22:25:17 +0900
Subject: [PATCH] 
 pr2_description/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro

---
 .../urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pr2_description/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro b/pr2_description/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro
index c99fb9a..f49b429 100644
--- a/pr2_description/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro
+++ b/pr2_description/urdf/sensors/microstrain_3dmgx2_imu.gazebo.xacro
@@ -11,7 +11,7 @@
         <topicName>${imu_topic}</topicName>
         <gaussianNoise>${stdev*stdev}</gaussianNoise>
         <xyzOffset>0 0 0</xyzOffset> 
-        <rpyOffset>0 -180.0 0</rpyOffset>
+        <rpyOffset>0 ${-180.0*M_PI/180.0} 0</rpyOffset>
         <serviceName>/default_imu</serviceName>
       </plugin>
     </gazebo>