How to run empty_world.launch with simbody physics engine in Gazebo 9.4.1?

asked 2018-10-30 20:28:59 -0600

Sassafrass13 gravatar image

Hello,

I would like to run a simple robot in an empty world using the simbody physics engine in Gazebo 9.4.1 with ROS Melodic distro. Here is what I am doing right now:

  1. In my empty_world.launch file I call this argument for the physics engine:

    arg name="physics" default="simbody"/

  2. In my empty.world file I define the parameters of the simbody physics engine following the SDF guidelines.

  3. I run the .launch file using

    roslaunch "package name" empty_world.launch

  4. Once Gazebo is running, the Physics tab in the Gazebo GUI shows that the engine is ODE but it includes the max_step_size and other parameters that I defined in my empty.world file. So I know that Gazebo is reading my .world file but for some reason it is still saying that it is running the ODE engine.

  5. As a sanity check, I can run the following and the Gazebo GUI shows that the engine is simbody.

    gazebo -e simbody

  6. The problem is that once Gazebo is running (after sending the command in step 5 above), I cannot get my robot to spawn in the world; the robot launch file is just paused on this line in the Terminal:

    [INFO] [1540949039.735518]: Waiting for service /gazebo/spawn_urdf_model

What am I doing wrong? Are there any resources you recommend for defining a physics engine in Gazebo 9.4.1?

Thank you for your help!

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