Adding inertia for gazebo?

[benthebear93]

I've been trying to use rolling + moveit2 + gazebo fortress for simulation. And since i am using moveit2, i tried to use moveit_resources URDF files rather frank_ros2 URDF files.

But i wasn't able to spawn a robot into gazebo fortress due to missing inertia. see this question and issue.

I understand just for moveit2, it's not necessary but many will try to use moveit2 along with gazebo. so might consider adding inertia?

or should i raise same issue to frank_ros2 repo?

this repository has inertia in panda.urdf. not sure how he got inertia for panda but it works in gazebo fortress.