Merged in fix_issue_188 (pull request #216)

Fix issue #188 Approved-by: Brian Bingham <briansbingham@gmail.com>
osrf · Mar 4, 2020 · 3e44023 · 3e44023
2 parents 35ab16a + af5ff1a
commit 3e44023
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/wamv_gazebo/urdf/sensors/wamv_gps.xacro b/wamv_gazebo/urdf/sensors/wamv_gps.xacro
@@ -24,7 +24,9 @@
         <inertia ixx="0.006458" ixy="0.0" ixz="0.0" iyy="0.006458" iyz="0.0" izz="0.01125"/>
       </inertial>
     </link>
-    <joint name="${name}_joint" type="fixed">
+    <joint name="${name}_joint" type="revolute">
+      <axis xyz="0 0 1"/>
+      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
       <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}" />
       <parent link="base_link" />
       <child link="${name}_link" />
@@ -46,7 +48,7 @@
         <!-- Location of origin of Gazebo Sand Island map -->
         <referenceLatitude>21.30996</referenceLatitude>
         <referenceLongitude>-157.8901</referenceLongitude>
-        <referenceAltitude>${z}</referenceAltitude>
+        <referenceAltitude>0</referenceAltitude>
         <referenceHeading>90</referenceHeading>
         <offset>0.0 0.0 0.0</offset>
         <drift>0.0 0.0 0.0</drift>

diff --git a/wamv_gazebo/urdf/sensors/wamv_imu.xacro b/wamv_gazebo/urdf/sensors/wamv_imu.xacro
@@ -10,8 +10,14 @@
           <color rgba="1.0 0.0 00 1.0" />
         </material>
       </visual>
+      <inertial>
+        <mass value="0.1"/>
+        <inertia ixx="0.000083" ixy="0.0" ixz="0.0" iyy="0.000083" iyz="0.0" izz="0.0125"/>
+      </inertial>
     </link>
-    <joint name="${name}_joint" type="fixed">
+    <joint name="${name}_joint" type="revolute">
+      <axis xyz="0 0 1"/>
+      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
       <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}"/>
       <parent link="base_link"/>
       <child link="${name}_link"/>