As of PR #95, the Stretch base IMU xacro is included every time a URDF is generated. This includes the URDF link corresponding to the mobile base IMU. This link has been called 'base_imu' in the past, but the topic from the driver refers to a nonexistent link called 'imu_mobile_base'. To fix the mismatch, the xacro's link is renamed from 'base_imu' to 'imu_mobile_base'.
As of PR #95, the Stretch base IMU xacro is included every time a URDF is generated. This includes the URDF link corresponding to the mobile base IMU. This link has been called 'base_imu' in the past, but the topic from the driver refers to a nonexistent link called 'imu_mobile_base'. To fix the mismatch, the xacro's link is renamed from 'base_imu' to 'imu_mobile_base'.