Commit 94e9e2e1 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

git remote set-url origin...

git remote set-url origin ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/adc/adc_2021/road_description.git
Moved the inertia from the base_link because it is not supported by Gazebo.
parent b6c13148
......@@ -10,7 +10,7 @@
<arg name="parent" default="map"/>
<param name="$(arg name)_description"
command="$(find xacro)/xacro --inorder '$(find sign_description)/urdf/$(arg model).xacro'
command="$(find xacro)/xacro '$(find sign_description)/urdf/$(arg model).xacro'
name:=$(arg name)
tag:=$(arg tag)
type:=$(arg type)">
......
......@@ -24,11 +24,6 @@
box_gazebo_material:=Gazebo/White">
<link name="${name}_base_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
</inertial>
<visual>
<origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
<geometry>
......@@ -49,6 +44,11 @@
</gazebo>
<link name="${name}_tag_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
</inertial>
</link>
<joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment