Incorporating Custom Dynamics Model to an URDF in ROS

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Hello Community,
I have a custom quadrotor dynamics model with me. I want to incorporate that with ROS Gazebo and do my simulation. I’m not getting a proper resource / vision to proceed with that. The available models in gazebo has simple quadrotor dynamics only. For my case I have a custom model. How to incorporate that and get it working. Thanks.

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Hello @siddharthsastra,
when working with URDF, an <inertia> element within each <link> element describes the dynamic properties of that one rigid body, such as mass and rotational inertia matrix. The course URDF for robot modeling touches on this topic in unit 3. This unit also provides a script that you can use to calculate the three basic inertia moments.

I hope this helps you to move forward.

Cheers,

Roberto

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