mass and com estimation

launch/mass_and_com_estimation.launch

@@ -12,7 +12,7 @@
     <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
     <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
 
-    <arg name="bag" default="rosbag_borinot_real_hover_V0_with_pose_nc"/>
+    <arg name="bag" default="rosbag_borinot_real_rpy_V3_ok"/>
     
     
     <!--VISUALIZATION-->

yaml/mass_and_com_estimation.yaml

@@ -66,8 +66,9 @@ config:
     
     # Dynamics
     com:                          [0.00,0.00,0.0]                      # center of mass [m] 
-    inertia:                      [0.0134943,0.0141622,0.0237319]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
-    mass:                         2                                    # mass [kg]
+    inertia:                      [0.017,0.017,0.029]                  # moments of inertia i_xx, i_yy, i_zz [kg m2]
+    mass:                         2
+    bias:                         [0,0,0,0,0,0]                                    # mass [kg]
     com_fix:                      false
     inertia_fix:                  true
     mass_fix:                     false