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

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1 change: 1 addition & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
@@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
* `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
* `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
* `franka_gazebo`: Add `set_franka_model_configuration` service.
* `franka_gazebo`: Add Gazebo simulation physics engine command line argument

## 0.10.1 - 2022-09-15

2 changes: 2 additions & 0 deletions franka_gazebo/launch/panda.launch
Original file line number Diff line number Diff line change
@@ -6,6 +6,7 @@
<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="ode" doc="The physics engine used by gazebo"/> <!--Phyics engines: ode|dart-->

<!-- Robot Customization -->
<arg name="arm_id" default="panda" doc="Name of the robot to spawn" />
@@ -38,6 +39,7 @@
<arg name="paused" value="$(arg paused)" />
<arg name="world" value="$(arg world)" />
<arg name="rviz" value="$(arg rviz)" />
<arg name="physics" value="$(arg physics)" />

<arg name="robot" value="panda" />
<arg name="arm_id" value="$(arg arm_id)" />
2 changes: 2 additions & 0 deletions franka_gazebo/launch/robot.launch
Original file line number Diff line number Diff line change
@@ -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="ode" doc="The physics engine used by gazebo"/> <!--Phyics engines: ode|dart-->

<!-- Robot Customization -->
<arg name="robot" doc="Which robot to spawn (one of {panda,fr3})" />
@@ -40,6 +41,7 @@
<arg name="paused" value="true"/>
<arg name="gui" value="$(eval not arg('headless'))"/>
<arg name="use_sim_time" value="true"/>
<arg name="physics" value="$(arg physics)"/>
</include>

<param name="robot_description"
11 changes: 11 additions & 0 deletions franka_gazebo/src/franka_hw_sim.cpp
Original file line number Diff line number Diff line change
@@ -82,6 +82,17 @@ bool FrankaHWSim::initSim(const std::string& robot_namespace,

ROS_INFO_STREAM_NAMED("franka_hw_sim", "Using physics type " << physics->GetType());

// Print information about the used physics engine
std::vector<std::string> supported_engines{"ode", "dart"};
std::string physics_engine = physics->GetType();
ROS_INFO_STREAM_NAMED("franka_hw_sim", "Using physics type " << physics->GetType());
if (std::find(supported_engines.begin(), supported_engines.end(), physics_engine) ==
supported_engines.end()) {
ROS_ERROR_STREAM_NAMED("franka_hw_sim",
"The Panda Gazebo model does not yet officially support the '" +
physics_engine + "' physics engine.");
}

// Retrieve initial gravity vector from Gazebo
// NOTE: Can be overwritten by the user via the 'gravity_vector' ROS parameter.
auto gravity = physics->World()->Gravity();