From a7bb01173e1b92eb68eb9279ef5184ce6c65fba5 Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Fri, 9 Aug 2024 00:09:08 +0200
Subject: [PATCH] Fix RViz file of simple_robot
---
.../simple_robot_1dof/urdf/simple_robot.urdf | 33 +++++++++++--------
1 file changed, 19 insertions(+), 14 deletions(-)
diff --git a/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf b/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
index 3e53eaf..2eb36ab 100644
--- a/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
+++ b/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
@@ -1,17 +1,7 @@
<?xml version="1.0"?>
-<robot name="simple_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="simple_robot">
- <link name="map">
- <origin rpy="0 0 0" xyz="0 0 0" />
- <visual>
- <geometry>
- <box size="0.1 0.1 0.1"/>
- </geometry>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- </link>
+ <link name="map" />
<link name="arm1">
<visual>
@@ -23,6 +13,11 @@
<color rgba="1.0 0.0 0.0 1"/>
</material>
</visual>
+ <inertial>
+ <origin xyz="0 0 0.355" rpy="0 0 0"/>
+ <mass value="5"/>
+ <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05"/>
+ </inertial>
</link>
<joint name="joint1" type="revolute">
@@ -43,13 +38,18 @@
<color rgba="0.0 1.0 0.0 1"/>
</material>
</visual>
+ <inertial>
+ <mass value="5"/>
+ <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05"/>
+ <origin xyz="-0.15 0 0" rpy="0 -1.5707 0"/>
+ </inertial>
</link>
<joint name="joint2" type="revolute">
<parent link="arm1"/>
<child link="arm2"/>
<origin xyz="0 0 0.71"/>
- <axis xyz="1 0 0"/>
+ <axis xyz="0 1 0"/>
<limit effort = "300" lower="-2.96705972839" upper="2.96705972839" velocity = "10" />
</joint>
@@ -63,13 +63,18 @@
<color rgba="0.0 0.0 1.0 1"/>
</material>
</visual>
+ <inertial>
+ <mass value="5"/>
+ <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.05" iyz="0" izz="0.05"/>
+ <origin xyz="-0.15 0 0" rpy="0 -1.5707 0"/>
+ </inertial>
</link>
<joint name="joint3" type="revolute">
<parent link="arm2"/>
<child link="arm3"/>
<origin xyz="-0.3 0 0"/>
- <axis xyz="1 0 0"/>
+ <axis xyz="0 1 0"/>
<limit effort = "300" lower="-2.96705972839" upper="2.96705972839" velocity = "10" />
</joint>
--
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