feat(franka_gazebo): add physics engine launch argument #211
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rickstaa
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Mar 18, 2022
franka_gazebo/launch/panda.launch
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| @@ -7,6 +7,7 @@ | |||
| <arg name="paused" default="false" doc="Should the simulation directly be stopped at 0s?" /> | |||
| <arg name="world" default="worlds/empty.world" doc="Filename to a SDF World for gazebo to use" /> | |||
| <arg name="rviz" default="false" doc="Should RVIz be launched?" /> | |||
| <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode--> | |||
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@Maverobot, @gollth I rebased this pull request on the |
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This will fix #362. |
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This commit gives users the ability to set the Gazebo physics engine through the `physics` launch file argument.
This commit ensures a warning is thrown when the user specifies the 'bullet' and 'simbody' physics engines since these are not yet supported with `franka_gazebo`.
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A simple pull request gives users the ability to change the physics engine. I used DART as the default physics engine since it appears to be the most stable (#160 (comment)). The only downside of using this engine compared to the ODE engine is that the
get_physics_propertiesservice call does not yet support the physics engine [bullet].Please note that the BULLET and SIMBODY physics engines do not work with the current model (see #160 (comment)). dcc5eb0 adds a warning to communicate this to the user.