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Gazebo physics settings
Jennifer Buehler edited this page Mar 2, 2016
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The following physics properties have to be set in the Gazebo worlds in order for grasping to work ok:
<physics type="ode">
<gravity>0 0 -9.8</gravity>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<precon_iters>0</precon_iters>
<sor>1.300000</sor>
</solver>
<constraints>
<cfm>0.000000</cfm>
<erp>0.200000</erp>
<contact_max_correcting_vel>100.000000</contact_max_correcting_vel>
<contact_surface_layer>0.001000</contact_surface_layer>
</constraints>
</ode>
</physics> These properties can also be set with the gazebo service
gazebo_msgs/SetPhysicsProperties.srv
Which has a field in which you can set the ODE physics properties:
gazebo_msgs/ODEPhysics.msg
An example client which uses this service to set some default settings can be used:
rosrun gazebo_test_tools set_gazebo_physics_client