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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 -0600

Anandu R
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updated 2022-03-20 10:08:44 -0600

lucasw

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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 ( 2019-12-05 06:20:16 -0600 )edit

thank you .

Anandu R ( 2019-12-05 06:44:53 -0600 )edit

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answered 2019-12-05 10:48:01 -0600

stevemacenski

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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 -0600

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Last updated: Dec 05 '19

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

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