Start with the why:
Having proper collisions for the camera is important for collision checking of the whole robot.
Move to the what:
The generated URDFs should contain sane <collision> and <inertial> tags.
Move to the how:
Ideally, the collisions should be rough shape approximations composed of just a few primitive shapes (boxes, cylinders, spheres).
Even the empty links should have non-zero (but negligible) mass and inertia so that Gazebo can process them. It seems the ideal mass for empty links is 1e-5.
Start with the
why:Having proper collisions for the camera is important for collision checking of the whole robot.
Move to the
what:The generated URDFs should contain sane
<collision>and<inertial>tags.Move to the
how:Ideally, the collisions should be rough shape approximations composed of just a few primitive shapes (boxes, cylinders, spheres).
Even the empty links should have non-zero (but negligible) mass and inertia so that Gazebo can process them. It seems the ideal mass for empty links is 1e-5.