From bbdfc6203786ad18c83d983b82d1b5686b13e4b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Miguel=20=C3=81ngel=20Gonz=C3=A1lez=20Santamarta?=
 <mgons@unileon.es>
Date: Sun, 20 Feb 2022 15:43:47 +0100
Subject: [PATCH] masses fixed

---
 rover_description/urdf/bases/bogie.urdf.xacro   | 2 +-
 rover_description/urdf/bases/rocker.urdf.xacro  | 2 +-
 rover_description/urdf/wheels/corner.urdf.xacro | 2 +-
 rover_description/urdf/wheels/wheel.urdf.xacro  | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rover_description/urdf/bases/bogie.urdf.xacro b/rover_description/urdf/bases/bogie.urdf.xacro
index 872945b..05de4bf 100644
--- a/rover_description/urdf/bases/bogie.urdf.xacro
+++ b/rover_description/urdf/bases/bogie.urdf.xacro
@@ -3,7 +3,7 @@
     <xacro:property name="bogie_box_length" value="0.43" />
     <xacro:property name="bogie_box_width" value="0.29" />
     <xacro:property name="bogie_box_depth" value="0.10" />
-    <xacro:property name="bogie_box_mass" value="1.0" />
+    <xacro:property name="bogie_box_mass" value="0.25" />
 
     <xacro:include filename="$(find rover_description)/urdf/inertials.xacro"/>
 
diff --git a/rover_description/urdf/bases/rocker.urdf.xacro b/rover_description/urdf/bases/rocker.urdf.xacro
index a49ed30..8d9c892 100644
--- a/rover_description/urdf/bases/rocker.urdf.xacro
+++ b/rover_description/urdf/bases/rocker.urdf.xacro
@@ -3,7 +3,7 @@
     <xacro:property name="rocker_box_length" value="0.43" />
     <xacro:property name="rocker_box_width" value="0.29" />
     <xacro:property name="rocker_box_depth" value="0.10" />
-    <xacro:property name="rocker_box_mass" value="1.0" />
+    <xacro:property name="rocker_box_mass" value="0.25" />
 
     <xacro:include filename="$(find rover_description)/urdf/inertials.xacro"/>
 
diff --git a/rover_description/urdf/wheels/corner.urdf.xacro b/rover_description/urdf/wheels/corner.urdf.xacro
index 74bc6a7..9c258ca 100644
--- a/rover_description/urdf/wheels/corner.urdf.xacro
+++ b/rover_description/urdf/wheels/corner.urdf.xacro
@@ -3,7 +3,7 @@
     <xacro:property name="corner_box_length" value="0.43" />
     <xacro:property name="corner_box_width" value="0.29" />
     <xacro:property name="corner_box_depth" value="0.10" />
-    <xacro:property name="corner_box_mass" value="1.0" />
+    <xacro:property name="corner_box_mass" value="0.25" />
 
     <xacro:include filename="$(find rover_description)/urdf/inertials.xacro"/>
 
diff --git a/rover_description/urdf/wheels/wheel.urdf.xacro b/rover_description/urdf/wheels/wheel.urdf.xacro
index 17c1e21..4416fef 100644
--- a/rover_description/urdf/wheels/wheel.urdf.xacro
+++ b/rover_description/urdf/wheels/wheel.urdf.xacro
@@ -2,7 +2,7 @@
 <robot name="body" xmlns:xacro="http://www.ros.org/wiki/xacro">
     <xacro:property name="wheel_width" value="0.100" />
     <xacro:property name="wheel_radius" value="0.060" />
-    <xacro:property name="wheel_mass" value="0.15" />
+    <xacro:property name="wheel_mass" value="0.25" />
 
     <xacro:include filename="$(find rover_description)/urdf/inertials.xacro"/>