add limited-rate simulation and set it as default

launch/simulation.launch

@@ -7,6 +7,7 @@
     <arg name="headless" default="false" />
     <arg name="debug" default="false" />
     <arg name="load_gripper" default="true" />
+    <arg name="slow_simulation" default="true" />
 
     <!-- don't include franka_control, but include the controller stuff from there -->
   <param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
@@ -15,6 +16,7 @@
     <!--launch GAZEBO with own world configuration -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
+        <arg name="world_name" if="$(arg slow_simulation)" value="$(find panda_simulation)/worlds/simulator.world"/>
         <arg name="debug" value="$(arg debug)" />
         <arg name="gui" value="$(arg gui)" />
         <arg name="paused" value="$(arg paused)" />

worlds/simulator.world

+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <physics name='default_physics' default='0' type='ode'>
+      <!-- the max step size is set to 0.001 by default. -->
+      <!-- When increasing it, the simulation quality may suffer. -->
+      <max_step_size>0.002</max_step_size>
+      <!-- this factor actually is computed by multiplying the other two -->
+      <real_time_factor>0.2</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+    </physics>
+  </world>
+</sdf>