Make the root_link the father of the base_link instead of the other way around #142
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…ay around This permits to avoid the Gazebo bug described in #140 . Furthermore, this will make sure that even after fixed joint lumping the link in Classic Gazebo will be called "root_link".
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@Nicogene probably it could make sense to to the same change in the iCub 3 model. |
…k_fixed_joint This is for consistency with the rest of "fake links/additional frames", whose joints have always the name <additional_frame_name>_fixed_joint .
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Do you mean 9e94025 ? Or also the changes in the yaml.in? |
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I mean just the change in the yaml.in, the commit you link is part of another PR (#141). |
| <joint name="base_link_fixed_joint" type="fixed"> | ||
| <origin xyz="0 0 0" rpy="0 -0 0" /> | ||
| <axis xyz="0 0 0" /> | ||
| <parent link="base_link" /> | ||
| <child link="root_link" /> | ||
| <parent link="root_link" /> | ||
| <child link="base_link" /> |
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Probably we should document this decision/change somewhere more visible than in the issues?
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I plan to add a CHANGELOG.md in icub-models as done for all the other repos.
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Ok for me! Maybe we can wait for another reviewer's (mainly @Nicogene being one of the active contributors for this repo) approval before proceeding for the merge.
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@traversaro shall we then delete the branch? |
Done! |
This commit is required because of robotology/icub-models-generator#142
This permits to avoid the Gazebo bug described in #140 .
Furthermore, this will make sure that even after fixed joint lumping the link in Classic Gazebo will be called "root_link".
For an extensive rationale, see #140 (comment) .
This PR requires #141 to ensure that even if merge the changes will not reach directly the
masterbranch.