Modifying a world - modulabs/gazebo-tutorial GitHub Wiki

Overview

이 μ§€μΉ¨μ„œλŠ” μž₯λ©΄κ³Ό 물리적 μ„±μ§ˆμ„ μˆ˜μ •ν•˜λŠ” λ°©λ²•μž…λ‹ˆλ‹€. κ°€μ œλ³΄λ₯Ό μ‹€ν–‰ν•˜μ„Έμš”

$ gazebo

Scene Properties

worldμ—μ„œ scene을 μ„ νƒν•˜μ„Έμš” ν™”λ©΄ ν•˜λ‹¨μ˜ μ‚Όκ°ν˜•μ„ λˆ„λ₯΄λ©΄, 각 수치λ₯Ό μˆ˜μ •ν• μˆ˜ μžˆμŠ΅λ‹ˆλ‹€.

이 μ„±μ§ˆμ€ μ€μ€ν•œ 빛을 λ³€κ²½ν•©λ‹ˆλ‹€. skyμ‚¬μš©μ΄ μ„€μ •λ˜μ–΄ 있으면, 배경색은 λ³€ν™”λ˜μ§€ μ•ŠμŠ΅λ‹ˆλ‹€.

Physics Properties

worldμ—μ„œ physics을 μ„ νƒν•©λ‹ˆλ‹€.

ν™”λ©΄ ν•˜λ‹¨μ— λ””μŠ€ν”Œλ ˆμ΄ λ©λ‹ˆλ‹€.

  • enable physics : ν”ŒλŸ¬κ·ΈμΈκ³Ό μ„Όμ„œκ°€ μž‘λ™μ€‘μΌλ•Œ, 물리 원칙이 μ μš©μ•Šλ˜κ²Œ ν• μˆ˜μžˆμŠ΅λ‹ˆλ‹€.

  • The real time update rate parameter specifies in Hz the number of physics updates that will be attempted per second. If this number is set to zero, it will run as fast as it can. Note that the product of real time update rate and max step size represents the target real time factor, or ratio of simulation time to real-time.

  • The max step size specifies the time duration in seconds of each physics update step.

gravity block:

쀑λ ₯κ°€μ†λ„μ˜ λ°©ν–₯을 x,y,z둜 지정을 ν•©λ‹ˆλ‹€.

In the solver block:

  • The iterations parameter specifies the number of iterations to use for iterative LCP solvers (used by ODE and bullet).

  • The SOR parameter stands for successive over-relaxation, which can be used to try to speed the convergence of the iterative method.

The constraints block:

The constraints block contains several parameters related to solving constraints:

The CFM and ERP parameters stands for Constraint Force Mixing and Error Reduction Parameter and are used by ODE and bullet. The CFM and ERP parameters can be related to linear stiffness and damping coefficients. The max velocity and surface layer parameters are used to resolve contacts with a split impulse method. Any contacts with that penetrate deeper than a depth specified by surface layer and have a normal velocity less than max velocity will not bounce. See the sdf physics documentation for a description of these parameters.