[Bullet] Demo Test without wheel_slip_plugin

[Lobotuerk]

Signed-off-by: Tomas Lorente [email protected]

So, for testing purposes, I used subt cave_circuit from this fork https://github.com/Lobotuerk/subt/tree/bullet_test, you don't necessarily need the fork, but you need to specify on the launch file for physics to use the bullet_engine. The fork has an engine:= parameter, that you can set to dart/bullet to change the physics engine. If using subt from master repo, add this into the launch file <plugin entity_name="<%= $worldName %>" entity_type="world" filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics"> <engine><filename>libignition-physics-bullet-plugin.so</filename></engine> </plugin>

For installing the branch, install ignition dome from src and checkout the ign-physics repo to this branch, bulletDev/Lobotuerk/ParameterTuning. Source the installation and export the engine with export IGN_GAZEBO_PHYSICS_ENGINE_PATH=~/PATH/TO/IGN/INSTALL/FOLDER//lib/ign-physics-4/engine-plugins/ (I'm not sure if we are missing something on the cmake that should take care of the exporting).
Then install subt from source and after sourcing it, you should be able to launch cave_circuit with bullet

[nkoenig]

I would suspect IGN_GAZEBO_PHYSICS_ENGINE_PATH requires some CMAKE massaging. I'm not sure what it entails. Maybe @azeey knows.

Do I need a specific version of Bullet installed?

[Lobotuerk]

@nkoenig
Do I need a specific version of Bullet installed?

Just the one that ign installs with its dependencies, 87* I think. You don't need to do anything extra than installing ign from source.

[nkoenig]

I have bullet version 2.87 installed, from ubuntu debians, and when I run subt I get the following errors and the robot doesn't appear.

Errors:

[Err] [SDFFeatures.cc:397] Created joint 228
[Err] [SDFFeatures.cc:397] Created joint 229
[Err] [SDFFeatures.cc:397] Created joint 230
[Err] [SDFFeatures.cc:397] Created joint 231

What I'm running:

ign launch competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 engine:=bullet

[Lobotuerk]

I have bullet version 2.87 installed, from ubuntu debians, and when I run subt I get the following errors and the robot doesn't appear.

Errors:

[Err] [SDFFeatures.cc:397] Created joint 228
[Err] [SDFFeatures.cc:397] Created joint 229
[Err] [SDFFeatures.cc:397] Created joint 230
[Err] [SDFFeatures.cc:397] Created joint 231

What I'm running:

ign launch competition.ign worldName:=simple_cave_01 circuit:=cave robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 engine:=bullet

I only modified cave_circuit.ign on Lobotuerk/subt@47ab6a1, so I don't think competition.ign can use those changes, am I right? Let me know and I can add those changes to competition.ign too if you want.

[nkoenig]

I only modified cave_circuit.ign on Lobotuerk/subt@47ab6a1, so I don't think competition.ign can use those changes, am I right? Let me know and I can add those changes to competition.ign too if you want.

I made those changes myself.

[nkoenig]

Ahh, I see my problem. This work is all based on ign-physics4, which is targeting Ignition Edifice. SubT is using Ignition Dome. We'll have to re-target this work to the ign-phyiscs3 branch.

[Lobotuerk]

Ahh, I see my problem. This work is all based on ign-physics4, which is targeting Ignition Edifice. SubT is using Ignition Dome. We'll have to re-target this work to the ign-phyiscs3 branch.

I think we checked out from master when we started the branch. But I made the docker we are using following https://ignitionrobotics.org/docs/dome/install_ubuntu_src, so i would think I'm using dome + physics4

[Lobotuerk]

Closing as last version has a PR (#208) and should be usable as a demo