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

asked 2019-12-05 05:59:25 -0500

Anandu R gravatar image

updated 2022-03-20 10:08:44 -0500

lucasw gravatar image

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?

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Just a comment (and pedantic), but:

Is it for simulation purpose in rviz only?

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

gvdhoorn gravatar image gvdhoorn  ( 2019-12-05 06:20:16 -0500 )edit

thank you .

Anandu R gravatar image Anandu R  ( 2019-12-05 06:44:53 -0500 )edit

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answered 2019-12-05 10:48:01 -0500

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.

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Asked: 2019-12-05 05:59:25 -0500

Seen: 113 times

Last updated: Dec 05 '19