From 3aca7b91dd707082fc9547929732346fd3e1e3cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Wed, 4 Jan 2023 17:21:54 +0100
Subject: [PATCH] Fix inertia and pinger visual.
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Signed-off-by: Carlos Agüero <caguero@osrfoundation.org>
---
 .../urdf/components/wamv_pinger.xacro         | 14 +++-------
 .../wamv_gazebo/urdf/wamv_gazebo.urdf.xacro   | 28 +++++++++++++++++--
 2 files changed, 30 insertions(+), 12 deletions(-)

diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
index 13b8ba7ed..ecd943f61 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
@@ -4,19 +4,13 @@
     <link name="${namespace}/${name}">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <box size="0.1 0.1 0.1" />
-        </geometry>
       </visual>
-      <collision name="${name}_collision">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <box size="0.1 0.1 0.1" />
-        </geometry>
-      </collision>
+      <inertial>
+        <mass value="0.1"/>
+        <inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
+      </inertial>
     </link>
     <joint name="${namespace}/${name}_pinger_joint" type="fixed">
-      <origin xyz="${position}" rpy="${orientation}"/>
       <parent link="${namespace}/base_link"/>
       <child link="${namespace}/${name}"/>
     </joint>
diff --git a/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
index 77effc294..fa9e0c0fc 100644
--- a/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
@@ -72,8 +72,32 @@
   <!-- === Decide if we lock the robot to the world === -->
   <xacro:if value="$(arg locked)">
     <gazebo>
-      <link name="wamv_external_link"/>
-      <link name="wamv_external_link_base"/>
+      <link name="wamv_external_link">
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00000004</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00000004</iyy>
+            <iyz>0</iyz>
+            <izz>0.00000004</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <link name="wamv_external_link_base">
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00000004</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00000004</iyy>
+            <iyz>0</iyz>
+            <izz>0.00000004</izz>
+          </inertia>
+        </inertial>
+      </link>
       <joint name="wamv_external_pivot_joint" type="universal">
         <parent>wamv_external_link</parent>
         <child>wamv/base_link</child>