From d6606fd62497322956525c306348ce2376e508a2 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 20 Mar 2023 03:40:50 -0300
Subject: [PATCH] Add world link.

---
 q2d_description/launch/ignition.launch.xml | 2 +-
 q2d_description/urdf/q2d.urdf              | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/q2d_description/launch/ignition.launch.xml b/q2d_description/launch/ignition.launch.xml
index 7bab226..06c804b 100644
--- 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
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -3,7 +3,14 @@
 
 	<xacro:arg name="ignition" default="false"/>
 	
+	<link name="world"/>
+	
 	<link name="origin_link"/>
+	
+	<joint name="world_joint" type="fixed">
+		<parent link="world"/>
+		<child link="origin_link"/>
+	</joint>
 
 	<link name="base_link">
 		<inertial>
-- 
2.12.0