| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Where and how can we set maximum number of contacts in Gazebo?
By default the max. num. of contacts is 20 "rosparam get /gazebo/max_contacts" Setting the parameter to any other ( ex. 100) " rosparam set /gazebo/max_contacts 100 " does not affect the simulation results, I am always getting 20 contacts using gazebo plugin bumpers.
I think gazebo would react to a service call, not to a parameter change on the parameter server
maybe try using the
rosservice call /gazebo/set_physics_properties
and copy the current properties that you get with
rosservice call /gazebo/get_physics_properties
something like
rosservice call /gazebo/set_physics_properties "time_step: 0.001
max_update_rate: 1000.0
gravity:
x: 0.0
y: 0.0
z: 0.0
ode_config:
auto_disable_bodies: False
sor_pgs_precon_iters: 0
sor_pgs_iters: 50
sor_pgs_w: 1.3
sor_pgs_rms_error_tol: 0.0
contact_surface_layer: 0.001
contact_max_correcting_vel: 100.0
cfm: 0.0
erp: 0.2
max_contacts: 100"
Asked: 2015-03-31 04:30:50 -0500
Seen: 1,944 times
Last updated: Mar 31 '15
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Calling service rosservice call /gazebo/setphysicsproperties and setting maxcontacts to 100 does not work. After calling service rosservice call /gazebo/getphysicsproperties the maxcontacts is still 20.
in https://bitbucket.org/osrf/gazebo/src...
// MAX_CONTACT_JOINTS truncates <max_contacts> specified in SDF #define MAX_CONTACT_JOINTS 32might be one reason which limits the number of contacts generated ?