I've just noticed from the official site that the Multisense SL description has a strange mass.
From the datasheet (and what I could measure myself) the Multisense is 2.6 kg
However, from the multisense_description I see the following links:
- head 1.4199 kg
- hokuyo_link 0.057664 kg
- six fake links for a total of 0.6 kg
Grand total : 2.077564 kg
The fake link should be massless, they are there just because URDF doesn't explicitly model frames of reference, and even with these 100 g links, more than half kg is missing.
Can you help understand?