feat: change physics engine to DART

This commit changes the default Gazebo Physics engine to DART. This was done since the Gazebo simulation is more stable in this engine (see frankaemika/franka_ros#160 (comment) )
rickstaa · Dec 10, 2021 · 0f209a8 · 0f209a8
1 parent 71843dc
commit 0f209a8
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Showing 6 changed files with 11 additions and 0 deletions.
diff --git a/panda_gazebo/launch/start_pick_and_place_world.launch b/panda_gazebo/launch/start_pick_and_place_world.launch
@@ -5,12 +5,14 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
diff --git a/panda_gazebo/launch/start_push_world.launch b/panda_gazebo/launch/start_push_world.launch
@@ -5,12 +5,14 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
diff --git a/panda_gazebo/launch/start_reach_world.launch b/panda_gazebo/launch/start_reach_world.launch
@@ -5,12 +5,14 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
diff --git a/panda_gazebo/launch/start_simulation.launch b/panda_gazebo/launch/start_simulation.launch
@@ -7,6 +7,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
   <!--Control arguments-->
   <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="effort" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
@@ -17,6 +18,7 @@
     <arg name="paused" value="$(arg paused)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 
   <!--Put the robot into the simulation-->

diff --git a/panda_gazebo/launch/start_slide_world.launch b/panda_gazebo/launch/start_slide_world.launch
@@ -5,12 +5,14 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch">
     <arg name="world" value="$(arg world)"/>
     <arg name="verbose" value="$(arg verbose)"/>
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
   </include>
 </launch>
diff --git a/panda_gazebo/launch/start_world.launch b/panda_gazebo/launch/start_world.launch
@@ -5,6 +5,7 @@
   <arg name="paused" default="true" doc="Start gazebo paused"/>
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">