From 656c158471611939b526a27b6c514f57020ec8f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 5 Jun 2023 13:47:24 +0200
Subject: [PATCH] update

---
 urdf/diffbot_description.urdf.xacro | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index bd4fba9..1111bbf 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -16,6 +16,15 @@
     <xacro:property name="caster_wheel_radius" value="0.04" />
     <xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
 
+    <!-- dummy link - used for ros2 control so it stops complaining? -->
+    <link name="dummy">
+    </link>
+
+    <joint name="dummy_joint" type="fixed">
+      <parent link="dummy"/>
+      <child link="base_link"/>
+    </joint>
+
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <collision>
@@ -218,6 +227,3 @@
 
   </xacro:macro>
 </robot>
-
-
-