remove `groud_plane` in gazebo

[chauvinSimon]

By default, roslaunch panda_moveit_config demo_gazebo.launch populates Models with two objects:

• the panda
• a ground_plane

Internally, demo_gazebo.launch launches franka_gazebo/launch/panda.launch from franka_gazebo

As shown on the animation, the ground_plane acts as an obstacle and prevents the robot from reaching negative z

A solution is to manually remove ground_plane, but this needs to be done each time gazebo is started

My question: is it possible to remove ground_plane permanently?

I guess it must be defined in some config file

• Nevertheless I could not find where
• In stone.sdf, removing the section of <uri>model://ground_plane</uri> does not help.

[rhaschke]

Loading franka_gazebo/panda.launch allows to specify your own Gazebo world model: https://github.com/rhaschke/franka_ros/blob/cartesian-impedance/franka_gazebo/launch/panda.launch#L8

Specifying stone.sdf with groundplane removed, works as expected: roslaunch franka_gazebo panda.launch world:=$PWD/src/robots/franka_ros/franka_gazebo/world/stone.sdf x:=-1

The default world, Gazebo's /usr/share/gazebo-11/worlds/empty.world comprises the ground plane as well.

[chauvinSimon]

Brilliant! Thank you @rhaschke for the quick and complete answer!