digraph G {
node [shape=box];
"base_link" [label="base_link"];
"imu_link" [label="imu_link"];
node [shape=ellipse, color=blue, fontcolor=blue];
"base_link" -> "imu_joint" [label="xyz: 0 0 0.03 \nrpy: 0 -0 0"]
"imu_joint" -> "imu_link"
}
