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.
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.