Add world link.

diff --git a/q2d_description/launch/ignition.launch.xml b/q2d_description/launch/ignition.launch.xml
index 7bab226..06c804b 100644 (file)
--- a/q2d_description/launch/ignition.launch.xml
+++ b/q2d_description/launch/ignition.launch.xml
@@ -31,7 +31,7 @@
        <arg if="$(var gui)" name="gz_gui" default=""/>
 
        <include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
-               <arg name="gz_args" value="$(var gz_pause) $(var gz_gui) -v 4 empty.sdf"/>
+               <arg name="gz_args" value="$(var gz_pause) $(var gz_gui) empty.sdf"/>
        </include>
 
        <include file="$(find-pkg-share q2d_description)/launch/q2d.launch.xml">

diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index 8e6fb7c..a50ca36 100644 (file)
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -3,7 +3,14 @@
 \r
        <xacro:arg name="ignition" default="false"/>\r
        \r
+       <link name="world"/>\r
+       \r
        <link name="origin_link"/>\r
+       \r
+       <joint name="world_joint" type="fixed">\r
+               <parent link="world"/>\r
+               <child link="origin_link"/>\r
+       </joint>\r
 \r
        <link name="base_link">\r
                <inertial>\r