Issue Type
Generated by Generative AI
No response
Distribution
No response
Description
In Using-Xacro-to-Clean-Up-a-URDF-File.rst there is an example of how to use a macro function. The macro takes a mass as an input, but doesn't include it in inertia tensor's calculations. It doesn't really matter, but it would be better if these values get multiplied by mass, as it makes more sense physically.
As it is now:
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1e-3" ixy="0.0" ixz="0.0"
iyy="1e-3" iyz="0.0"
izz="1e-3" />
</inertial>
</xacro:macro>
Affected Pages/Sections
|
Using Xacro to clean up your code |
Screenshots or Examples (if applicable)
Suggested Fix
Should be:
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="${(1e-3)* mass}" ixy="0.0" ixz="0.0"
iyy="${(1e-3) * mass}" iyz="0.0"
izz="${(1e-3) * mass}" />
</inertial>
</xacro:macro>
Additional Context
No response
Issue Type
Generated by Generative AI
No response
Distribution
No response
Description
In Using-Xacro-to-Clean-Up-a-URDF-File.rst there is an example of how to use a macro function. The macro takes a mass as an input, but doesn't include it in inertia tensor's calculations. It doesn't really matter, but it would be better if these values get multiplied by mass, as it makes more sense physically.
As it is now:
Affected Pages/Sections
ros2_documentation/source/Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.rst
Line 7 in 2199aa3
Screenshots or Examples (if applicable)
Suggested Fix
Should be:
Additional Context
No response