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PR2 / pr2_common

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Remove inertial tag from fictitious base_footprint link #282

Closed jesseli2002 closed 4 years ago

jesseli2002 commented 4 years ago

Does anything require a non-zero inertial tag for all links? I'm a beginner to the ROS ecosystem so I'm not sure, but the presence of this tag is giving a warning when I ran the MoveIt! demo for the PR2: roslaunch pr2_moveit_config demo.launch Specifically the warning (which gets repeated a few times) is: [ WARN] [1588898022.595792839]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

I figured that since base_footprint is already fictitious you could just remove the inertial tag from it as well, with mass/inertial values defaulting to 0.

v4hn commented 4 years ago

You did not look at the other open pull-request:

280 includes this change and some other cleanup as well.

I'm still waiting for @k-okada to review...

Closing as duplicate of #280 .