def init_values(self):
rospy.wait_for_service('/gazebo/reset_simulation')
try:
#reset_proxy.call()
self.reset_proxy()
except (rospy.ServiceException, e):
print("/gazebo/reset_simulation service call failed")
self._time_step = Float64(0.001)
self._max_update_rate = Float64(1000.0)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = 0.0
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
def init_physics_parameters(self):
"""
We initialise the physics parameters of the simulation, like gravity,
friction coeficients and so on.
"""
self._time_step = Float64(0.001)
self._max_update_rate = Float64(1000.0)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = -9.81
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
def init_values(self):
print "Starting init Grav"
self._time_step = Float64(0.001)
self._max_update_rate = Float64(1000.0)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = 0.0
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
def gazeboPhysicsSet(time_step_value=0.001, max_update_rate_value=1000):
# Set as Default Gazebo Property
gravity_value = Vector3(x=0, y=0, z=-9.81)
ODE_value = ODEPhysics(auto_disable_bodies=False,
sor_pgs_precon_iters=0,
sor_pgs_iters=50,
sor_pgs_w=1.3,
sor_pgs_rms_error_tol=0,
contact_surface_layer=0.001,
contact_max_correcting_vel=100.0,
cfm=0.0,
erp=0.2,
max_contacts=20)
rospy.wait_for_service('/gazebo/set_physics_properties')
try:
set_physics_properties = rospy.ServiceProxy(
'/gazebo/set_physics_properties', SetPhysicsProperties)
service_result = set_physics_properties(
max_update_rate=max_update_rate_value,
time_step=time_step_value,
gravity=gravity_value,
ode_config=ODE_value)
if (service_result):
print('Physics properties is set as coded!')
else:
print('Service Does not Called!')
except rospy.ServiceException as exc:
print("Service did not process request: " + str(exc))
def init_values(self, speed=1000, z_gravity=-9.81, time_step=0.001):
"""
rospy.wait_for_service('/gazebo/reset_simulation')
try:
# reset_proxy.call()
self.reset_simulation_proxy()
except rospy.ServiceException, e:
print ("/gazebo/reset_simulation service call failed")
"""
"""
We initialise the physics parameters of the simulation, like gravity,
friction coeficients and so on.
"""
self._time_step = Float64(time_step)
# self._time_step = Float64(0.01)
self._max_update_rate = Float64(speed)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = z_gravity
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
def init_physics_parameters(self):
"""
We initialise the physics parameters of the simulation, like gravity,
friction coeficients and so on.
"""
self._time_step = 0.001
# Setting this to zero will force gazebo to update
# as fast as it can while keeping realism
# default is 1000
self._max_update_rate = 0.
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = -9.81
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
def init_physics_parameters(self):
'''
We initialise the physics parameters of the simulation, like gravity,
friction coeficients and so on.
NOTE: this parameters are the same that turtlebot3 Gazebo simulations use
'''
self._time_step = Float64(0.001)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = -9.81
self._ode_config = ODEPhysics(
) #TODO: these properties can be got by calling /gazebo/get_physics_properties service. Check that these values are equal than default one
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 150
self._ode_config.sor_pgs_w = 1.4
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.01
self._ode_config.contact_max_correcting_vel = 2000.0
self._ode_config.cfm = 1e-5
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
def change_gravity(x, y, z):
gravity = Vector3()
gravity.x = x
gravity.y = y
gravity.z = z
set_gravity = rospy.ServiceProxy('/gazebo/set_physics_properties',
SetPhysicsProperties)
set_gravity(physics().time_step,
physics().max_update_rate, gravity, ODEPhysics())
def set_gazebo_physics(self):
rospy.wait_for_service('/gazebo/set_physics_properties')
set_physics = rospy.ServiceProxy('/gazebo/set_physics_properties',
SetPhysicsProperties)
time_step = 0.001
max_update_rate = self.real_time_factor * 1000
gravity = Vector3(0, 0, -9.8)
#Args order = ['auto_disable_bodies', 'sor_pgs_precon_iters', 'sor_pgs_iters', 'sor_pgs_w', 'sor_pgs_rms_error_tol', 'contact_surface_layer', 'contact_max_correcting_vel', 'cfm', 'erp', 'max_contacts']
ode_config = ODEPhysics(False, 0, 50, 1.3, 0.0, 0.001, 100.0, 0.0, 0.2,
20)
try:
resp = set_physics(time_step, max_update_rate, gravity, ode_config)
print("Physics Set :", resp.success)
except rospy.ServiceException as exc:
print("Service did not process request: " + str(exc))
class GravityControl(object):
def __init__(self):
self.unpause = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
self.pause = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
self.reset_proxy = rospy.ServiceProxy('/gazebo/reset_simulation', Empty)
service_name = '/gazebo/set_physics_properties'
rospy.loginfo("Waiting for service " + str(service_name))
rospy.wait_for_service(service_name)
rospy.loginfo("Service Found " + str(service_name))
self.set_physics = rospy.ServiceProxy(service_name, SetPhysicsProperties)
self.init_values()
def init_values(self):
rospy.wait_for_service('/gazebo/reset_simulation')
try:
# reset_proxy.call()
self.reset_proxy()
except rospy.ServiceException, e:
print ("/gazebo/reset_simulation service call failed")
self._time_step = Float64(0.001)
self._max_update_rate = Float64(1000.0)
self._gravity = Vector3()
self._gravity.x = 0.0
self._gravity.y = 0.0
self._gravity.z = 0.0
self._ode_config = ODEPhysics()
self._ode_config.auto_disable_bodies = False
self._ode_config.sor_pgs_precon_iters = 0
self._ode_config.sor_pgs_iters = 50
self._ode_config.sor_pgs_w = 1.3
self._ode_config.sor_pgs_rms_error_tol = 0.0
self._ode_config.contact_surface_layer = 0.001
self._ode_config.contact_max_correcting_vel = 0.0
self._ode_config.cfm = 0.0
self._ode_config.erp = 0.2
self._ode_config.max_contacts = 20
self.update_gravity_call()
rospy.loginfo("Waiting for service to be available...")
rospy.wait_for_service('/gazebo/set_physics_properties')
rospy.loginfo("Additional sleep...")
rospy.sleep(wait_time)
rospy.loginfo("Setting physics properties...")
srv = rospy.ServiceProxy("/gazebo/set_physics_properties", SetPhysicsProperties)
time_step = 0.001
max_update_rate = 1000.0
gravity = Vector3()
gravity.x = 0
gravity.y = 0
gravity.z = 9.8
ode_config = ODEPhysics()
ode_config.auto_disable_bodies = False
ode_config.sor_pgs_precon_iters = 0
ode_config.sor_pgs_w = 1.3
ode_config.sor_pgs_rms_error_tol = 0.0
ode_config.contact_surface_layer = 0.001
ode_config.contact_max_correcting_vel = 100.0
ode_config.cfm = 0.0
ode_config.erp = 0.2
ode_config.max_contacts = 20
srv(time_step, max_update_rate, gravity, ode_config)
all_points = []
# spin and write out a file
#!/usr/bin/env python
from gazebo_msgs.msg import ODEPhysics
from geometry_msgs.msg import Vector3
from gazebo_msgs.srv import SetPhysicsProperties
from std_msgs.msg import Float64
import rospy
set_gravity = rospy.ServiceProxy('/gazebo/set_physics_properties',
SetPhysicsProperties)
time_step = Float64(0.004) # default: 0.001
max_update_rate = Float64(250.0) # default: 1000.0
gravity = Vector3()
gravity.x = 0.0
gravity.y = 0.0
gravity.z = -9.8
ode_config = ODEPhysics()
ode_config.auto_disable_bodies = False
ode_config.sor_pgs_precon_iters = 0
ode_config.sor_pgs_iters = 50
ode_config.sor_pgs_w = 1.3
ode_config.sor_pgs_rms_error_tol = 0.0
ode_config.contact_surface_layer = 0.001
ode_config.contact_max_correcting_vel = 50.0 # default: 100.0
ode_config.cfm = 0.0
ode_config.erp = 0.2
ode_config.max_contacts = 20
print "Changing gazebo properties."
set_gravity(time_step.data, max_update_rate.data, gravity, ode_config)
import rospy
from std_srvs.srv import Empty
from gazebo_msgs.msg import ODEPhysics
from gazebo_msgs.srv import SetPhysicsProperties, SetPhysicsPropertiesRequest
from std_msgs.msg import Float64
from geometry_msgs.msg import Vector3
from simulation_handler import SimulationHandler
GAZEBO_SERVICES_MAP = {
'reset': ['/gazebo/reset_world', Empty],
'pause': ['/gazebo/pause_physics', Empty],
'unpause': ['/gazebo/unpause_physics', Empty],
'set_physics': ['/gazebo/set_physics_properties', SetPhysicsProperties]
}
ODE_PHYSICS_DEFAULT = ODEPhysics()
ODE_PHYSICS_DEFAULT.auto_disable_bodies = False
ODE_PHYSICS_DEFAULT.sor_pgs_precon_iters = 0
ODE_PHYSICS_DEFAULT.sor_pgs_iters = 50
ODE_PHYSICS_DEFAULT.sor_pgs_w = 1.3
ODE_PHYSICS_DEFAULT.sor_pgs_rms_error_tol = 0.0
ODE_PHYSICS_DEFAULT.contact_surface_layer = 0.001
ODE_PHYSICS_DEFAULT.contact_max_correcting_vel = 0.0
ODE_PHYSICS_DEFAULT.cfm = 0.0
ODE_PHYSICS_DEFAULT.erp = 0.2
ODE_PHYSICS_DEFAULT.max_contacts = 20
class GazeboHandler(SimulationHandler):
"""
The simulation handler for performing pause, unpause, spawn, etc operations