Fix inertia and pinger visual. (#566)

Signed-off-by: Carlos Agüero <[email protected]>

vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro

@@ -4,19 +4,13 @@
  <link name="${namespace}/${name}">
  <visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.1 0.1 0.1" />
- </geometry>
  </visual>
- <collision name="${name}_collision">
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.1 0.1 0.1" />
- </geometry>
- </collision>
+ <inertial>
+ <mass value="0.1"/>
+ <inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
+ </inertial>
  </link>
  <joint name="${namespace}/${name}_pinger_joint" type="fixed">
- <origin xyz="${position}" rpy="${orientation}"/>
  <parent link="${namespace}/base_link"/>
  <child link="${namespace}/${name}"/>
  </joint>

vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro

@@ -72,8 +72,32 @@
  <!-- === Decide if we lock the robot to the world === -->
  <xacro:if value="$(arg locked)">
  <gazebo>
- <link name="wamv_external_link"/>
- <link name="wamv_external_link_base"/>
+ <link name="wamv_external_link">
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00000004</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0.00000004</iyy>
+ <iyz>0</iyz>
+ <izz>0.00000004</izz>
+ </inertia>
+ </inertial>
+ </link>
+ <link name="wamv_external_link_base">
+ <inertial>
+ <mass>0.001</mass>
+ <inertia>
+ <ixx>0.00000004</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0.00000004</iyy>
+ <iyz>0</iyz>
+ <izz>0.00000004</izz>
+ </inertia>
+ </inertial>
+ </link>
  <joint name="wamv_external_pivot_joint" type="universal">
  <parent>wamv_external_link</parent>
  <child>wamv/base_link</child>