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hello-robot / stretch_urdf

URDFs for the Stretch mobile manipulators from Hello Robot Inc.
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Rviz error regarding unrealistic inertia on a URDF link #16

Open hello-binit opened 6 months ago

hello-binit commented 6 months ago

With the new URDFs from Stretch URDF, you'll often see the following errors from Rviz:

[rviz2-3] [ERROR] [1709239520.622518064] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-3] 
[rviz2-3] [ERROR] [1709239520.622684439] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-3] 
[rviz2-3] [ERROR] [1709239520.622823763] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-3] 
[rviz2-3] [ERROR] [1709239520.622991909] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-3] 
[rviz2-3] [ERROR] [1709239520.623178864] [rviz2]: The link is static or has unrealistic inertia, so the equivalent inertia box will not be shown.
[rviz2-3]

Unfortunately, the error doesn't say which link is the culprit. They merged that functionality into rolling. So to figure out this issue, we'll need to upgrade to rolling or painstakingly remove the inertia from each link in the URDF one at a time.

Andrii0607 commented 2 weeks ago

@hello-binit I have the same issue. Have you managed to solve this issue?