Gazebo physics settings

UNDER CONSTRUCTION

Ensure physics are set

The following physics properties have to be set in the Gazebo worlds in order for grasping to work ok:

    <physics type="ode"> 
      <gravity>0 0 -9.8</gravity> 
      <ode> 
        <solver> 
          <type>quick</type> 
          <iters>50</iters> 
          <precon_iters>0</precon_iters> 
          <sor>1.300000</sor> 
        </solver> 
        <constraints> 
          <cfm>0.000000</cfm> 
          <erp>0.200000</erp> 
          <contact_max_correcting_vel>100.000000</contact_max_correcting_vel> 
          <contact_surface_layer>0.001000</contact_surface_layer> 
        </constraints> 
      </ode> 
    </physics> 

These properties can also be set with the gazebo service

gazebo_msgs/SetPhysicsProperties.srv

Which has a field in which you can set the ODE physics properties:

gazebo_msgs/ODEPhysics.msg

An example client which uses this service to set some default settings can be used:

rosrun gazebo_test_tools set_gazebo_physics_client