tweaks

Author: iche033

subt_description/urdf/led.urdf.xacro

@@ -28,17 +28,17 @@
 
     <gazebo>
       <model name='${led_prefix}_led'>
-        <pose>${xyz} ${rpy}</pose> 
+        <pose>${xyz} ${rpy}</pose>
         <link name='led_body'>
           <inertial>
-            <mass>0.00001</mass>
+            <mass>0.001</mass>
             <inertia>
-              <ixx>1.0e-08</ixx>
+              <ixx>1.0e-06</ixx>
               <ixy>0</ixy>
               <ixz>0</ixz>
-              <iyy>1.0e-08</iyy>
+              <iyy>1.0e-06</iyy>
               <iyz>0</iyz>
-              <izz>1.0e-08</izz>
+              <izz>1.0e-06</izz>
             </inertia>
           </inertial>
           <visual name='marker'>

x3_description/urdf/x3_with_sensors.xacro

@@ -14,7 +14,7 @@
     odometry_topic="odometry_sensor1/odometry"
     parent_frame_id="world"
     child_frame_id="${namespace}/odometry_sensor1"
-    mass_odometry_sensor="0.00001"
+    mass_odometry_sensor="0.001"
     measurement_divisor="1"
     measurement_delay="0"
     unknown_delay="0.0"
@@ -30,7 +30,7 @@
     odometry_map=""
     image_scale="">
     <!-- [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] -->
-    <inertia ixx="0.0000005" ixy="0.0" ixz="0.0" iyy="0.0000005" iyz="0.0" izz="0.0000005" />
+    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </xacro:odometry_plugin_macro>
 

x4_description/urdf/x4_with_sensors.xacro

@@ -16,7 +16,7 @@
     odometry_topic="odometry_sensor1/odometry"
     parent_frame_id="world"
     child_frame_id="${namespace}/odometry_sensor1"
-    mass_odometry_sensor="0.00001"
+    mass_odometry_sensor="0.001"
     measurement_divisor="1"
     measurement_delay="0"
     unknown_delay="0.0"
@@ -32,7 +32,7 @@
     odometry_map=""
     image_scale="">
     <!-- [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] [kg m^2] -->
-    <inertia ixx="0.0000005" ixy="0.0" ixz="0.0" iyy="0.0000005" iyz="0.0" izz="0.0000005" />
+    <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </xacro:odometry_plugin_macro>