Gazebo Settings

[Morgantiz]

I noticed that the simulation seems to be very heavy, I think because of the gazebo physics settings, here.
I'm trying to add a more complex simulation world, but if I change these settings (to maintain a real time factor close to one) the robot simulation doesn't work. Could you tell me how I could modify them and what are the limits?

[alaurenzi]

Can you elaborate a bit more? What do you mean with "does not work"?

[Morgantiz]

Gazebo opens with the robot disassembled, but the xbot gui gives no error and in the rviz view the robot is assembled. In rviz also I noticed that the BaseMarker for continuous control of the moving base and manipulator do not activate. Have you ever experienced behavior like this?
To replicate the error, simply edit the lines (e.g. with real_time_update_rate 1000 and max_step_size 0.001), then launch the simulation with the command "mon launch concert_gazebo concert.launch"

[EdoardoRomiti]

To replicate the error, simply edit the lines (e.g. with real_time_update_rate 1000 and max_step_size 0.001), then launch the simulation with the command "mon launch concert_gazebo concert.launch"

I just tried but couldn't replicate the error, in my case the sim still runs ok with these parameters (with the default world).

Gazebo opens with the robot disassembled, but the xbot gui gives no error and in the rviz view the robot is assembled.

I had a similar issue when I was using your worlds in https://github.com/ADVRHumanoids/concert_gazebo_worlds.
In that case for me it was enough to add this line to your worlds (e.g., kranhalle_concert.world) inside the <world> tag:

<!-- simulation time support  -->
<plugin name="xbot2_clock" filename="libxbot2_gz_clock.so"/>

Not sure if this is the problem, if you already have this line in your world file then the problem is another one.

[Morgantiz]

I just tried but couldn't replicate the error, in my case the sim still runs ok with these parameters (with the default world).

To modify the parameters i compiled workspace with catkin_make and then source the devel folder, but now i'm changing the structure of our workspace and we no longer have to compile the concert_ws inside the concert description container.

I had a similar issue when I was using your worlds in https://github.com/ADVRHumanoids/concert_gazebo_worlds. In that case for me it was enough to add this line to your worlds (e.g., kranhalle_concert.world) inside the tag:

I just tested it by adding only that line but it didn't worked, to avoid that the simulation starts with the disassembled robot i also had to modify the gazebo physics settings to: real_time_update_rate = 2000 and max_step_size = 0.0005.