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I had the same problem I found the solution here: https://answers.ros.org/question/258420/ball-joint-in-urdf/ As it shows: "Gazebo ignores links without inertial properties" Hence my issue was solved by calculating simple inertials (e.g. based on cylinder (https://en.wikipedia.org/wiki/List_of_moments_of_inertia)) and adding them to my robot urdf links:

  <inertial>
    <origin xyz="0.0189 0.0375 0.0375" rpy="0 0 0"/> <!--COM-->
    <mass value="0.3"/> <!--300g-->
    <inertia ixx="7.0312e-04" ixy="0" ixz="0" iyy="4.3425e-04" iyz="0" izz="4.3425e-04"/> <!--realistic inertials-->
  </inertial>

I had the same problem I found the solution here: https://answers.ros.org/question/258420/ball-joint-in-urdf/ As it shows: "Gazebo ignores links without inertial properties" Hence my issue was solved by calculating simple inertials (e.g. based on cylinder (https://en.wikipedia.org/wiki/List_of_moments_of_inertia)) (https://en.wikipedia.org/wiki/List_of_moments_of_inertia )) and adding them to my robot urdf links:

  <inertial>
    <origin xyz="0.0189 0.0375 0.0375" rpy="0 0 0"/> <!--COM-->
    <mass value="0.3"/> <!--300g-->
    <inertia ixx="7.0312e-04" ixy="0" ixz="0" iyy="4.3425e-04" iyz="0" izz="4.3425e-04"/> <!--realistic inertials-->
  </inertial>