drop link

Signed-off-by: Louise Poubel <[email protected]>
osrf · Nov 2, 2021 · d733514 · d733514
1 parent b8da409
commit d733514
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Showing 2 changed files with 15 additions and 17 deletions.
diff --git a/lrauv_description/models/tethys/model.sdf b/lrauv_description/models/tethys/model.sdf
@@ -360,23 +360,21 @@
     </joint>
 
     <!-- Drop weight -->
-    <model name="drop_weight">
-      <link name="drop_weight">
+    <link name="drop_weight">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
         <pose>0 0 0 0 0 0</pose>
-        <inertial>
-          <pose>0 0 0 0 0 0</pose>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.000143971303</ixx>
-            <ixy>0.000000000008</ixy>
-            <ixz>-0.000000000224</ixz>
-            <iyy>0.000140915448</iyy>
-            <iyz>-0.000025236433</iyz>
-            <izz>0.000033571862</izz>
-          </inertia>
-        </inertial>
-      </link>
-    </model>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.000143971303</ixx>
+          <ixy>0.000000000008</ixy>
+          <ixz>-0.000000000224</ixz>
+          <iyy>0.000140915448</iyy>
+          <iyz>-0.000025236433</iyz>
+          <izz>0.000033571862</izz>
+        </inertia>
+      </inertial>
+    </link>
 
   </model>
 </sdf>
diff --git a/lrauv_description/models/tethys_equiped/model.sdf b/lrauv_description/models/tethys_equiped/model.sdf
@@ -181,7 +181,7 @@
         filename="ignition-gazebo-detachable-joint-system"
         name="ignition::gazebo::systems::DetachableJoint">
         <parent_link>base_link</parent_link>
-        <child_model>drop_weight</child_model>
+        <child_model>__model__</child_model>
         <child_link>drop_weight</child_link>
         <topic>/model/tethys/drop_weight</topic>
       </plugin>