Merge pull request #608 from JdeRobot/fix-global-nav-rot

Fix global nav rotation

Author: javizqh

CustomRobots/taxi_navigator/models/taxi_holo_ROS_harmonic/model.sdf

@@ -7,7 +7,7 @@
     <!-- Chassis link -->
     <link name="taxi_holo">
       <inertial>
-        <mass>750.0</mass>
+        <mass>1.0</mass>
         <inertia>
           <ixx>1</ixx><ixy>0.0</ixy><ixz>0.0</ixz>
           <iyy>1</iyy><iyz>0.0</iyz>
@@ -17,13 +17,15 @@
 
       <!-- collision & visual both use the same mesh -->
       <collision name="collision">
+        <pose>0 0 0 1.57 0 0 </pose>
         <geometry>
           <mesh>
             <uri>model://taxi_holo_ROS_harmonic/meshes/taxi_holo.obj</uri>
           </mesh>
         </geometry>
       </collision>
       <visual name="visual">
+        <pose>0 0 0 1.57 0 0 </pose>
         <geometry>
           <mesh>
             <uri>model://taxi_holo_ROS_harmonic/meshes/taxi_holo.obj</uri>

Worlds/taxi_navigation_city_large.world

@@ -68,7 +68,7 @@
     </include>
     <!-- My robots -->
     <include>
-        <pose>0 0 0.1 1.5529944 0 -1.5529944</pose>
+        <pose>0 0 0.1 0 0 -1.5529944</pose>
         <uri>model://taxi_holo_ROS_harmonic</uri>
     </include>