[Garden] Fix issue #563 and inertias #566
Merged
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Fix issue #563.
The problem was in the
wamv_pinger.xacro
. We were creating a visual with an offset equals to theposition
of the pinger in world coordinates. This is wrong as the visual (if any) should represent the acoustic sensor and it should be inside the wam-v.I removed the visual and its collision as it's not very useful.
Bonus: I added some missing inertias, otherwise the default inertia values were incorrect. The inertias look good now:
How to test it?
View->Inertia
to confirm that the inertias are reasonable. Note that the inertia visualization is very slow the first time that you request it. This is a Gazebo issue.