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[Garden] Fix issue #563 and inertias #566

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Merged
caguero merged 1 commit into from
Jan 5, 2023
Merged

[Garden] Fix issue #563 and inertias #566

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14 changes: 4 additions & 10 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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28 changes: 26 additions & 2 deletions vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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