Add dummy inertias for Gazebo simulation

Signed-off-by: Emiliano Borghi <emiliano@smartmachine.nz>

microstrain_inertial_description/urdf/cv7.urdf.xacro

@@ -1,5 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:macro name="dummy_inertia">
+ <inertial>
+ <mass value="0.001" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0"
+ izz="0.0001" />
+ </inertial>
+ </xacro:macro>
+
  <xacro:macro name="cv7" params="name parent *origin">
  <material name="cv7_material">
  <color rgba="${80/255} ${81/255} ${85/255} 1" />
@@ -13,9 +22,11 @@
  </geometry>
  <material name="cv7_material"/>
  </visual>
+ <xacro:dummy_inertia/>
  </link>
 
  <link name="${name}">
+ <xacro:dummy_inertia/>
  </link>
 
  <!-- This joint handles the center of the CV7, but measurements will not be produced WRT to this, it is just easier to place on robots -->