From 58ada9402eac37598ea745b2b57537f1246bc4a7 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 16 Oct 2023 21:57:32 +0200
Subject: [PATCH] [DiffBot] Inertia fix (#373) (#374)

(cherry picked from commit ce7497d894114ed9fd796829caa7b696c112c072)

Co-authored-by: luis-camero <88782189+luis-camero@users.noreply.github.com>
---
 .../diffbot/urdf/diffbot_description.urdf.xacro      | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro b/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
index 03aa3497f..263be605e 100644
--- a/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
+++ b/ros2_control_demo_description/diffbot/urdf/diffbot_description.urdf.xacro
@@ -72,9 +72,9 @@
         <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
         <mass value="${wheel_mass}"/>
         <inertia
-          ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
-          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+          ixx="${wheel_mass / 12.0 * (3*wheel_radius*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
+          iyy="${wheel_mass / 12.0 * (3*wheel_radius*wheel_radius + wheel_len*wheel_len)}" iyz="0.0"
+          izz="${wheel_mass / 2.0 * wheel_radius*wheel_radius}"/>
         </inertial>
       </link>
 
@@ -107,9 +107,9 @@
         <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
         <mass value="${wheel_mass}"/>
         <inertia
-          ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
-          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+          ixx="${wheel_mass / 12.0 * (3*wheel_radius*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
+          iyy="${wheel_mass / 12.0 * (3*wheel_radius*wheel_radius + wheel_len*wheel_len)}" iyz="0.0"
+          izz="${wheel_mass / 2.0 * wheel_radius*wheel_radius}"/>
         </inertial>
       </link>