Robot is levitating in Gazebo
I also asked this same question here https://answers.ros.org/question/3115... , was not sure which forum was most appropriate.
ROS Melodic. Latest code is here https://github.com/lukewebdev/SCARA-5...
Running: roslaunch scara_52900 all.launch
results in the robot appearing in the air instead of on the ground. I'm sure this is something really simple but have not been able to figure it out yet.
I noticed if I adjust the Z to be negative in the fixed joint, like this <joint name="fixed" type="fixed"> <parent link="world"/> <child link="base_link"/> <origin xyz="0 0 -.9"/> </joint> the robot moves lower to the ground. But I don't understand why this is necessary given that the other elements start at 0. What am I missing? How much negative Z should I put?