Fix origin in macro and set some damping

ros-controls · Aug 11, 2023 · 4e39ac5 · 4e39ac5
1 parent 4179dd6
commit 4e39ac5
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_pendulum_effort.xacro.urdf
@@ -7,7 +7,7 @@
         <geometry>
           <box size="${width} ${width} ${height}"/>
         </geometry>
-        <origin xyz="0 0 ${height/2}"/>
+        <origin xyz="0 0 0"/>
       </collision>
       <visual>
         <geometry>
@@ -68,11 +68,11 @@
 
   <joint name="cart_to_pendulum" type="revolute">
     <axis xyz="0 1 0"/>
-    <origin xyz="0.0 0.35 0.0" rpy="0 0 0"/>
+    <origin xyz="0.0 0.35 0.0" rpy="0 0.1 0"/>
     <parent link="cart"/>
     <child link="pendulum"/>
     <limit effort="10000.0" lower="-100000" upper="100000" velocity="100000"/>
-    <dynamics damping="0.0" friction="0.0"/>
+    <dynamics damping="0.1" friction="0.0"/>
   </joint>
 
   <ros2_control name="GazeboSystem" type="system">