From 0b4cf40110ec40df74b8c2c0340bb1c0a203fdc6 Mon Sep 17 00:00:00 2001
From: Raffaello Bonghi <raffaello@rnext.it>
Date: Fri, 11 Oct 2024 13:19:23 +0100
Subject: [PATCH] rename nanosaur urdf extension and fix inertia error

---
 nanosaur_description/launch/description.launch.py         | 2 +-
 .../urdf/{nanosaur.urdf.xml => nanosaur.urdf.xacro}       | 0
 nanosaur_description/urdf/robot.urdf.xacro                | 8 ++++----
 3 files changed, 5 insertions(+), 5 deletions(-)
 rename nanosaur_description/urdf/{nanosaur.urdf.xml => nanosaur.urdf.xacro} (100%)

diff --git a/nanosaur_description/launch/description.launch.py b/nanosaur_description/launch/description.launch.py
index 701dbbc..f35fc3e 100644
--- a/nanosaur_description/launch/description.launch.py
+++ b/nanosaur_description/launch/description.launch.py
@@ -72,7 +72,7 @@ def generate_launch_description():
     default_xacro_path = os.path.join(
         get_package_share_directory('nanosaur_description'),
         'urdf',
-        'nanosaur.urdf.xml'
+        'nanosaur.urdf.xacro'
     )
 
     declare_model_path_cmd = DeclareLaunchArgument(
diff --git a/nanosaur_description/urdf/nanosaur.urdf.xml b/nanosaur_description/urdf/nanosaur.urdf.xacro
similarity index 100%
rename from nanosaur_description/urdf/nanosaur.urdf.xml
rename to nanosaur_description/urdf/nanosaur.urdf.xacro
diff --git a/nanosaur_description/urdf/robot.urdf.xacro b/nanosaur_description/urdf/robot.urdf.xacro
index 821b333..8d764f8 100644
--- a/nanosaur_description/urdf/robot.urdf.xacro
+++ b/nanosaur_description/urdf/robot.urdf.xacro
@@ -21,11 +21,11 @@
 
         <link name="nanosaur_base">
             <inertial>
-                <mass value="0.412"/>
+                <mass value="0.453"/>
                 <origin rpy=" 0 0 0" xyz="0.0 0 0.0"/>
-                <inertia ixx="922734.27556" ixy="0458.391" ixz="225029.72"
-                        iyy="1.701e-06" iyz="-3998.88622"
-                        izz="1995920.29749"/>
+                <inertia ixx="982653.79909" ixy="-2069.061" ixz="193876.45537"
+                        iyy="1888714.1125" iyz="-4847.17947"
+                        izz="2199329.1679"/>
             </inertial>
             <visual>
                 <geometry><mesh filename="${path_meshes}/nanosaur_base.stl" scale="0.001 0.001 0.001"/></geometry>