Pelican URDF

Old:

  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
      <geometry>
        <mesh filename="package://pelican_urdf/data/pelican.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0.4 0.4 0.5 1.0"/>
      </material>
    </visual>
  </link>

New:

  <link name="base_link">
    <inertial>
      <mass value="10.0" />
      <origin xyz="0 0 0" />
      <inertia  ixx="1" ixy="0.000"  ixz="0.0"  iyy="1"  iyz="0.0"  izz="1" />
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
      <geometry>
        <mesh filename="package://pelican_urdf/data/pelican.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0.4 0.4 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57 0.0 3.1415"/>
      <geometry>
        <mesh filename="package://pelican_urdf/data/pelican.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>

  <gazebo reference="base_link">
      <kp>1000000000.0</kp>
      <kd>1.0</kd>
    <material>Gazebo/Black</material>
    <turnGravityOff>true</turnGravityOff>
  </gazebo>