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Commit 672bd5a8 authored by Johannes Mey's avatar Johannes Mey
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add limited-rate simulation and set it as default

parent 0538dae6
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...@@ -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)" />
......
<?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>
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