球体
<!-- Macro for inertia matrix -->
<!--
m:质量
r:球体半径
-->
<xacro:macro name="sphere_inertial_matrix" params="m r">
<inertial>
<mass value="${m}" />
<inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
iyy="${2*m*r*r/5}" iyz="0"
izz="${2*m*r*r/5}" />
</inertial>
</xacro:macro>
圆柱
<!--
m:质量
r:半径
h:圆柱高度
-->
<xacro:macro name="cylinder_inertial_matrix" params="m r h">
<inertial>
<mass value="${m}" />
<inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
izz="${m*r*r/2}" />
</inertial>
</xacro:macro>
立方体
<!--
m:质量
l w h: 立方体长 宽 高
-->
<xacro:macro name="Box_inertial_matrix" params="m l w h">
<inertial>
<mass value="${m}" />
<inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"
iyy="${m*(w*w + l*l)/12}" iyz= "0"
izz="${m*(w*w + h*h)/12}" />
</inertial>
</xacro:macro>
转自:http://www.autolabor.com.cn/book/ROSTutorials/di-6-zhang-ji-qi-ren-xi-tong-fang-zhen/66-urdfji-cheng-gazebo/662-urdf-ji-cheng-gazebo-xiang-guan-she-zhi.html