ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A answers.ros.org
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

...moving my comment here as I ran out of room :)

If the links are connected via fixed joints, you should be able to assign inertia to any one of the fixed-joint-connected links and set the rest of the links inertia to some very small numbers (1e-6). As of diamondback, inertia of fix-joint-connected links are lumped into their parent. In general, 0 inertia will not work as the urdf2gazebo parser will ignore the link and break the kinematic chain.

On the other hand, non-fixed-joint-connected links with inertia close to 0 might make your dynamics unstable.