Added ground plane to URDF for simulators #226
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fmauch
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Oct 29, 2024
urdf/ur.urdf.xacro
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| @@ -57,6 +57,30 @@ | |||
| <!-- create link fixed to the "world" --> | |||
| <link name="world" /> | |||
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| <link name="ground_plane"> | |||
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I think it would be nice to only add it when using gazebo, as otherwise this isn't necessarily required.
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Good point, I will change that 👍
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@VinDp Since iron will not be receiving any updates anymore: Could you please make the according change on Humble? |
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This PR adds a ground plane in the URDF to match the one present in gazebo, avoiding unfeasible planning solutions. It solves #217.