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[aerial_model] print inertia when launching #638

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[aerial_model] print inertia when launching #638

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3 changes: 3 additions & 0 deletions aerial_robot_model/src/model/base_model/robot_model.cpp
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Expand Up @@ -363,6 +363,9 @@ namespace aerial_robot_model {
ROS_INFO_STREAM_ONCE("[aerial_robot_model] robot mass is " << mass_);

setInertia((cog.Inverse() * link_inertia).getRotationalInertia());
Eigen::Matrix3d print_inertia = getInertia<Eigen::Matrix3d>();
ROS_INFO_STREAM_ONCE("[aerial_robot_model] robot inertia is \n" << print_inertia);

setCog2Baselink(cog.Inverse() * f_baselink);

/* thrust point based on COG */
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