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Parse ode_quiet physics parameter from SDFormat #3194
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This parameter should quiet the console spam of "LCP Internal Error" messages caused by this solver. Add test expectations to confirm that it is set. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Since the ode_quiet element is not part of the SDFormat spec, it may be encoded as a string in the PresetManager. So try parsing it as a string using an sdf::Param object. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Once gazebosim/gazebo-classic#3194 is released, this will silence the LCP Internal Error console messages. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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* Use world solver in ocean waves world This reduces noise in the force-torque sensor readings. Signed-off-by: Steve Peters <scpeters@openrobotics.org> * Add ode_quiet parameter to <physics/> Once gazebosim/gazebo-classic#3194 is released, this will silence the LCP Internal Error console messages. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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The ODE
world-step solver has a tendency to spam the console withLCP Internal Errormessages (try loadingtest/worlds/world_step.worldwith--verboseto see for yourself). We added anode_quietparameter to theSetParamandGetParamAPIs forODEPhysicsin bitbucket pull request 2512 (merged in dacd915), but at that time it was only accessible from the C++ API.I had thought that the
gazebo::physics::PresetManagermight be able to aid in parsing this parameter if it was added to a<physics>block, but when I tried that in e7ce527, it gives an error message:I have now realized that this is because while
SetParamtries to cast to abool, libsdformat is treating its value as a string, which is the default behavior when parsing elements that are not part of the SDFormat spec. With this in mind, I've added logic in f75611d to try parsing theode_quietvalue as astringif it fails to cast to abool, and then use ansdf::Paramobject to convert the string to aboolusing code from libsdformat's Param_TEST.cc as an example.