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You can actually visualize the inertia under the shape of a box (rather than an ellipsoid - but really who cares) starting from ROS-Indigo / Gazebo 2.2 (you may actually visualize it with an earlier version of Gazebo but there is no ROS version associated).

ROS-Hydro / Gazebo 1.9 does not allow to visualize inertia...

Antoine.

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