change default physics engine (#198)

* docs: add known issues to docs This commit adds the known issue to the documentation and updates the bug issue template. * refactor: change default physics engine This commit changes the default physics engine back from DART to ODE.
rickstaa · Dec 13, 2023 · 30aeaa0 · 30aeaa0
1 parent 4cac087
commit 30aeaa0
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Showing 8 changed files with 10 additions and 7 deletions.
diff --git a/panda_gazebo/docs/source/get_started/usage.rst b/panda_gazebo/docs/source/get_started/usage.rst
@@ -53,3 +53,6 @@ of the Panda robot, you can use the following ``roslaunch`` command:
 .. code-block:: bash
 
     roslaunch panda_gazebo start_simulation.launch
+
+
+The note you've provided is clear and informative, but you can improve it further by organizing the information more effectively and making it easier to read. Here's a revised version:
diff --git a/panda_gazebo/launch/put_robot_in_world.launch b/panda_gazebo/launch/put_robot_in_world.launch
@@ -25,7 +25,7 @@
   <arg name="pitch" default="0" doc="How much to rotate the base of the robot around its Y-axis in [rad]?"/>
   <arg name="yaw" default="0" doc="How much to rotate the base of the robot around its Z-axis in [rad]?"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
   <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>

diff --git a/panda_gazebo/launch/start_pick_and_place_world.launch b/panda_gazebo/launch/start_pick_and_place_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">

diff --git a/panda_gazebo/launch/start_push_world.launch b/panda_gazebo/launch/start_push_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">

diff --git a/panda_gazebo/launch/start_reach_world.launch b/panda_gazebo/launch/start_reach_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">

diff --git a/panda_gazebo/launch/start_simulation.launch b/panda_gazebo/launch/start_simulation.launch
@@ -9,7 +9,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
   <!--Control arguments-->
   <!--  The control type used for controlling the robot (Options: Trajectory, position, effort)-->
   <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>

diff --git a/panda_gazebo/launch/start_slide_world.launch b/panda_gazebo/launch/start_slide_world.launch
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/>
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/>
 
   <!--Start the Gazebo world-->
   <include file="$(find panda_gazebo)/launch/start_world.launch.xml">

diff --git a/panda_gazebo/launch/start_world.launch.xml b/panda_gazebo/launch/start_world.launch.xml
@@ -6,7 +6,7 @@
   <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
   <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
   <!--  The used phyics engine (options: dart and ode)-->
-  <arg name="physics" default="dart" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
+  <arg name="physics" default="ode" doc="The physics engine used by gazebo"/> <!--Phyics engines: dart|ode-->
 
   <!--Start the gazebo world-->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
Original file line number	Diff line number	Diff line change
Expand Up		@@ -53,3 +53,6 @@ of the Panda robot, you can use the following ``roslaunch`` command:
		.. code-block:: bash

		roslaunch panda_gazebo start_simulation.launch


		The note you've provided is clear and informative, but you can improve it further by organizing the information more effectively and making it easier to read. Here's a revised version: