From 94e9e2e1023528ee52de4c4ce489b319e5747940 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 3 Nov 2020 18:19:13 +0100
Subject: [PATCH] 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.
---
launch/spawn_sign.launch | 2 +-
urdf/signs/sign_macro.xacro | 10 +++++-----
2 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/launch/spawn_sign.launch b/launch/spawn_sign.launch
index 87dcc1b..cc156a6 100644
--- a/launch/spawn_sign.launch
+++ b/launch/spawn_sign.launch
@@ -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)">
diff --git a/urdf/signs/sign_macro.xacro b/urdf/signs/sign_macro.xacro
index 8363616..05db448 100644
--- a/urdf/signs/sign_macro.xacro
+++ b/urdf/signs/sign_macro.xacro
@@ -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">
--
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