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code-iai / iai_maps

The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen
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Dm room gazebo and noetic #85

Closed Tigul closed 1 year ago

Tigul commented 3 years ago

Description

This PR adds inertial tags to all links in the dm_room urdf macro. This allows the spawning of the urdf in gazebo. Furthermore, the xacro namespace is added to all macro tags because it is required by the ROS noetic version of xacro.

All added inertial tags are all the same and are displayed below

<inertial>
    <mass value="1."/>
    <inertia ixx="0.1" ixy="0.1" ixz="0.1" iyy="0.1" iyz="0.1" izz="0.1"/>
    <origin rpy="0 0 0" xyz="0.00312 0 0.11152"/>
</inertial>

This shouldn't be a problem because all links are connected via fixed joints and aren't supposed to move.

artnie commented 1 year ago

@hawkina is this PR fine? Can it be merged? I don't know who's working with these meshes. If you know any, could you please assign them to check out and accept this PR, so we can merge #94 ?

hawkina commented 1 year ago

Tested with cram_donbot_retail_demo and check_urdf. Visualization in Bullet and Rviz works fine also, yes can be merged :)