search

osrf / drcsim

Repository for the DRC project.
16 stars 6 forks source link

DART not working on DRCSim #486

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Davide Faconti (Bitbucket: facontidavide).

Hi,

I have tried to use DART, but apparently it is not working on drcsim. On the other hand, it works fine on gazebo (same machine). The GUI never show up and it is hard to know where the application is freezing; the only suspicious print is 

 [ INFO] [1423761842.792512293]: Finished loading Gazebo ROS API Plugin.
 [ INFO] [1423761842.792891966]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

I am using ubuntu 14.04, and DART 4.3 (from debian package)

Any suggestion?

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

Hi David, did you start drcsim by running command similar to below?

roslaunch drcsim_gazebo atlas.launch extra_gazebo_args:="-e dart"
osrf-migration commented 9 years ago

Original comment by Davide Faconti (Bitbucket: facontidavide).

No, I modified the file atlas.world loaded by atlas.launch with 

  <physics type="dart">

The command line you provided works but it is had to determine if dart is actually being used instead of ODE.

osrf-migration commented 9 years ago

Original comment by Davide Faconti (Bitbucket: facontidavide).

I can confirm that the arguiment

     extra_gazebo_args:="-e dart"

is being ignored. Just in case, I also commented the part in my .world file where physics was configured.

If I change some ODE related parameters I affect the simulation. This would not happen if DART was used under the hood.

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Did you build gazebo and drcsim from source? Currently dart support requires building from source.

I'm working on a tutorial about using different physics engines with drcsim, I'll post it here once it is up.

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).