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fixed friction issue

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This commit is contained in:
Ruixiang Du
2020-04-01 21:59:58 +08:00
parent d221d37dea
commit a1efd5b609
6 changed files with 32 additions and 34 deletions
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1
scout_gazebo_sim/launch/scout_playpen.launch
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@@ -29,7 +29,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="physics" value="bullet" />
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>

17
scout_gazebo_sim/worlds/weston_robot_empty.world
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@@ -12,18 +12,11 @@
</include>
<!-- Physics -->
<!-- <physics type="ode">
<ode>
<solver>
<type>world</type>
</solver>
<constraints>
<contact_max_correcting_vel>0.1</contact_max_correcting_vel>
<contact_surface_layer>0.0001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.001</max_step_size>
<physics type='ode'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<gravity>0.0 0.0 -9.81</gravity> -->
</world>
</sdf>