Origin of revolute joints don't move in Gazebo11
Hi,
Can someone help me please?
My URDF file have three revolute joints (rudder_joint, sail_joint, tail_joint) with origin defined:
<robot <a="" href="http://xmlns:xacro="http://ros.org/wiki/xacro">xmlns:xacro="http://ros.org/wiki/xacro" name="sailboat"></robot>
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="scale" value="1"/>
<!--_______________________-->
<!--________ HULL _________-->
<!--_______________________-->
<link name="sailboat/base_link">
<visual>
<origin xyz="-0.79 0 0.26" rpy="0 0 0" />
<geometry>
<!--mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/-->
<mesh filename="package://sailboat_description/models/meshes/hull_material.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
</visual>
<collision name="collision">
<origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
<geometry>
<mesh filename="package://sailboat_description/models/meshes/hull_origin.STL" scale="${scale} ${scale} ${scale}"/>
</geometry>
</collision>
<!-- Mass is calculated based on an estimate of draft, the effective length and the cross-section of
a circle segment. The value for the draft is consistent specifications of similar vessels. Moments of inertia are based on an effective cylindrical model-->
<inertial>
<mass value="184.04"/>
<inertia ixx="5.99" ixy="0.0" ixz="0.0" iyy="230.06" iyz="0.0" izz="235.86"/>
<origin xyz="-0.79 0 0.26" rpy="0 0 0"/>
</inertial>
</link>
<!--_______________________-->
<!--_______ RUDDER ________-->
<!--_______________________-->
<link name="sailboat/rudder_link">
<visual name="visual">
<geometry>
<!--mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/-->
<mesh filename="package://sailboat_description/models/meshes/leme_material.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
<origin xyz="0 0 0" rpy="0 0 0"/>
</visual>
<collision name="collision">
<geometry>
<mesh filename="package://sailboat_description/models/meshes/leme_origin.STL" scale="${scale} ${scale} ${scale}"/>
</geometry>
<!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<mass value="1.39" />
<inertia ixx="0.03" ixy="0.0" iyy="0.03" ixz="0.0" iyz="0.0" izz="0.01" />
<!--origin xyz="-1.57 0 -0.21" rpy="0 0 0"/-->
<origin xyz="0 0 0" rpy="0 0 0"/>
</inertial>
</link>
<joint name="sailboat/rudder_joint" type="revolute">
<parent link="sailboat/base_link"/>
<child link="sailboat/rudder_link"/>
<origin xyz="-1.57 0 -0.21" rpy="0 0 0"/>
<dynamics damping="1.0"/>
<axis xyz="0 0 1"/>
<limit effort="100" velocity="5" lower="-${PI/2}" upper="${PI/2}" />
</joint>
<!--_______________________-->
<!--________ KEEL _________-->
<!--_______________________-->
<link name="sailboat/keel_link">
<visual name="visual">
<geometry>
<!--mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/-->
<mesh filename="package://sailboat_description/models/meshes/keel_material.dae" scale="${scale} ${scale} ${scale}"/> ...