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Setting inertia for a whole robot

asked 2011-08-25 02:57:33 -0500

erpa gravatar image

Hi all, I am trying to model a quadrotor, i have the .model file from an old implementation in gazebo but i need to rewrite it as a .urdf to be used in ROS. My problem is that rather then setting the inertia for each link i would like to set it for the whole robot (in fact the controller will consider the quadrotor as a unique body). Is it possible somehow?

Thank you

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answered 2011-08-25 11:59:37 -0500

hsu gravatar image

...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.

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thanks a lot for your help
erpa gravatar image erpa  ( 2011-08-29 01:08:17 -0500 )edit

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Asked: 2011-08-25 02:57:33 -0500

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Last updated: Aug 25 '11