Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
P
panda_simulation
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container registry
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
This is an archived project. Repository and other project resources are read-only.
Show more breadcrumbs
CeTI
ROS
ROS Packages
panda_simulation
Commits
672bd5a8
Commit
672bd5a8
authored
4 years ago
by
Johannes Mey
Browse files
Options
Downloads
Patches
Plain Diff
add limited-rate simulation and set it as default
parent
0538dae6
No related branches found
No related tags found
No related merge requests found
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
launch/simulation.launch
+2
-0
2 additions, 0 deletions
launch/simulation.launch
worlds/simulator.world
+21
-0
21 additions, 0 deletions
worlds/simulator.world
with
23 additions
and
0 deletions
launch/simulation.launch
+
2
−
0
View file @
672bd5a8
...
@@ -7,6 +7,7 @@
...
@@ -7,6 +7,7 @@
<arg name="headless" default="false" />
<arg name="headless" default="false" />
<arg name="debug" default="false" />
<arg name="debug" default="false" />
<arg name="load_gripper" default="true" />
<arg name="load_gripper" default="true" />
<arg name="slow_simulation" default="true" />
<!-- don't include franka_control, but include the controller stuff from there -->
<!-- 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="$(arg load_gripper)" />
<param name="robot_description" command="$(find xacro)/xacro '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
...
@@ -15,6 +16,7 @@
...
@@ -15,6 +16,7 @@
<!--launch GAZEBO with own world configuration -->
<!--launch GAZEBO with own world configuration -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
<!-- <arg name="world_name" value="$(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="$(arg debug)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)" />
<arg name="paused" value="$(arg paused)" />
...
...
This diff is collapsed.
Click to expand it.
worlds/simulator.world
0 → 100644
+
21
−
0
View file @
672bd5a8
<?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>
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment