Shift inertia to base_footprint

ros-navigation · Feb 20, 2025 · a6c1de5 · a6c1de5
1 parent b7de5ce
commit a6c1de5
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/sam_bot_description/src/description/sam_bot_description.sdf b/sam_bot_description/src/description/sam_bot_description.sdf
@@ -82,15 +82,13 @@
             ${base_length} ${base_width} ${base_height}
           </size></box>
         </geometry>
-      </collision>
-
-      <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
+      </collision> 
     </link>
 
     <!-- Robot Footprint -->
     <link name='base_footprint'>
       <pose relative_to="base_joint"/>
-      <xacro:box_inertia m="0" w="0" d="0" h="0"/>
+      <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
     </link>
 
     <joint name='base_joint' type='fixed'>

diff --git a/sam_bot_description/src/description/sam_bot_description.urdf b/sam_bot_description/src/description/sam_bot_description.urdf
@@ -55,13 +55,11 @@
         <box size="${base_length} ${base_width} ${base_height}"/>
       </geometry>
     </collision>
-
-    <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
   </link>
 
   <!-- Robot Footprint -->
   <link name="base_footprint">
-    <xacro:box_inertia m="0" w="0" d="0" h="0"/>
+    <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
   </link>
 
   <joint name="base_joint" type="fixed">