In PR https://github.com/hello-robot/stretch_ros/pull/110, we did system identification work to find realistic mass/inertia matrices for the Stretch URDF. Unfortunately, these new values makes Gazebo unhappy:
roslaunch stretch_gazebo gazebo.launch
# in a new terminal
roslaunch stretch_core teleop_twist.launch twist_topic:=/stretch_diff_drive_controller/cmd_vel
This PR copies the older xacros into the Stretch Gazebo package and has the Gazebo simulation use these older xacros. The behavior now looks like:
In PR https://github.com/hello-robot/stretch_ros/pull/110, we did system identification work to find realistic mass/inertia matrices for the Stretch URDF. Unfortunately, these new values makes Gazebo unhappy:
https://github.com/hello-robot/stretch_ros/assets/64861565/5ac4374c-704c-4d3a-9ba7-343af06d2660
You can reproduce this by running:
This PR copies the older xacros into the Stretch Gazebo package and has the Gazebo simulation use these older xacros. The behavior now looks like:
https://github.com/hello-robot/stretch_ros/assets/64861565/a2cc763c-7f91-44ff-82fd-5458924aed7a