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Following chapulina's answer, my URDF joint looks like this:

<link name="world"/>
<joint name="joint_base_world" type="fixed">
  <child link="base_link" />
  <parent link="world" />
  <origin xyz="0 0 0.5" />
</joint>

An explicit definition of the world frame is necessary when using URDF's. This joint stabilizes my robot and makes it float at 0.5 m from the ground.

Following chapulina's answer, my URDF joint looks like this:

<link name="world"/>
<joint name="joint_base_world" type="fixed">
  <child link="base_link" />
  <parent link="world" />
  <origin xyz="0 0 0.5" 0" />
</joint>

An explicit definition of the world frame is necessary when using URDF's. This joint stabilizes my robot and makes it float fixed at 0.5 m from the ground.zero position.