setting `<minDepth>` in gazebo tags does not propagate to robot description

asked 2019-11-14 02:53:06 -0600

kumpakri gravatar image

When I set the minDepth parameter in the URDF file for my robot's wheels

<gazebo reference="wheel_rear_right_link">
       <minDepth>0.002</minDepth>
       ...
</gazebo>

inside the Gazebo simulation I found that the min_depth parameter is set to 0 regardless. When I convert the xacro to sdf, those tags are not present in the code. Other gazebo elements for links from this tutorial also does not work.

But setting the sensor on the link inside the same gazebo reference tags does load the sensor. What does that imply?

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