is it important to provide mass and inertia value in urdf file while using navigation stack?

is it important to provide mass and inertia value in urdf file? Is there any kinematic model which use these values? or Is it for visualisation purpose in rviz only?

Asked by Anandu R on 2019-12-05 06:59:25 UTC

Comments

Just a comment (and pedantic), but:

Is it for simulation purpose in rviz only?

RViz is not a simulator. "Just" a visualisation tool.

Asked by gvdhoorn on 2019-12-05 07:20:16 UTC

thank you .

Asked by Anandu R on 2019-12-05 07:44:53 UTC

Answers

If its for the hardware, doesn't matter what so ever.

If its in simulation, it probably doesn't matter as long as you don't expect good contact dynamics (ei, you run into stuff or try to accelerate really fast). If you see a turtlebot flying away, you may want to adjust. Otherwise, I wouldn't worry about it.

Asked by stevemacenski on 2019-12-05 11:48:01 UTC