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feat(franka_gazebo): add physics engine launch argument #211

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@rickstaa rickstaa commented Dec 10, 2021

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_properties service 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.

@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from c40eafa to 7d35d82 Compare December 10, 2021 07:48
@rickstaa rickstaa marked this pull request as draft December 10, 2021 09:33
@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from 7d35d82 to dcc5eb0 Compare December 10, 2021 09:35
@rickstaa rickstaa marked this pull request as ready for review December 10, 2021 09:35
@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from dcc5eb0 to d547046 Compare December 10, 2021 10:38
@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from d547046 to d58e014 Compare January 24, 2022 11:00
@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from d58e014 to f7144c5 Compare February 15, 2022 08:29
@@ -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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@gollth, @marcbone I still think having this option is helpful since the dart simulation is more stable for me. We can, of course, also set ODE as the default since some Gazebo services are not yet implemented for the DART simulator.

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@gollth I just set the default physics engine to ODE (see 6f45ba5). I think this makes sense since dart is only preferred when doing effort/velocity control.

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rickstaa commented Sep 1, 2023

@Maverobot, @gollth I rebased this pull request on the develop branch and solved the conflicts. Are you interested in merging this feature into the upstream, or can we close this PR 🤔?

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rickstaa commented Sep 1, 2023

This will fix #362.

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`.
@rickstaa rickstaa force-pushed the add_physics_engine_launch_arg branch from 0e8a5fb to 8c2a000 Compare March 23, 2024 20:46
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