Closed henningkayser closed 1 year ago
This adds proper inertials to the Panda URDF (from https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml), and uses file URI's that Gazebo can understand.
This is an isolated step to enable Gazebo support. Launch file changes will follow, but they are a bit more tricky since they require handling of Humble/Rolling differences.
This adds proper inertials to the Panda URDF (from https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml), and uses file URI's that Gazebo can understand.
This is an isolated step to enable Gazebo support. Launch file changes will follow, but they are a bit more tricky since they require handling of Humble/Rolling differences.