t.korjakow/ft24_control
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Made slightly faster

Browse Source
This commit is contained in:
wittenator 2023-11-02 22:02:21 +01:00
parent 42f6ddc6ba
commit 60a798f5d2
3 changed files with 14 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/dcaiti_control/description/imu.xacro
View File

@ -4,8 +4,8 @@
<material>Gazebo/Red</material> <material>Gazebo/Red</material>
<sensor name="imu_sensor" type="imu"> <sensor name="imu_sensor" type="imu">
<always_on>1</always_on> <always_on>1</always_on>
<update_rate>100</update_rate> <update_rate>50</update_rate>
<visualize>true</visualize> <visualize>false</visualize>
<topic>/lidar/imu</topic> <topic>/lidar/imu</topic>
</sensor> </sensor>
</gazebo> </gazebo>

7
src/dcaiti_control/worlds/empty.sdf.template
View File

@ -1,7 +1,7 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<sdf version="1.6"> <sdf version="1.6">
<world name="empty"> <world name="empty">
<physics name="phys" type="ode"> <physics name="phys" type="dart">
<max_step_size>0.005</max_step_size> <max_step_size>0.005</max_step_size>
<real_time_factor>1.0</real_time_factor> <real_time_factor>1.0</real_time_factor>
<ode> <ode>
@ -12,6 +12,11 @@
<friction_model>cone_model</friction_model> <friction_model>cone_model</friction_model>
</solver> </solver>
</ode> </ode>
<dart>
<collision_detector>
bullet
</collision_detector>
</dart>
</physics> </physics>
<plugin <plugin
filename="ignition-gazebo-physics-system" filename="ignition-gazebo-physics-system"

7
src/dcaiti_control/worlds/generated_worlds/AU2_skidpad.sdf
View File

@ -1,7 +1,7 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<sdf version="1.6"> <sdf version="1.6">
<world name="empty"> <world name="empty">
<physics name="phys" type="ode"> <physics name="phys" type="dart">
<max_step_size>0.005</max_step_size> <max_step_size>0.005</max_step_size>
<real_time_factor>1.0</real_time_factor> <real_time_factor>1.0</real_time_factor>
<ode> <ode>
@ -12,6 +12,11 @@
<friction_model>cone_model</friction_model> <friction_model>cone_model</friction_model>
</solver> </solver>
</ode> </ode>
<dart>
<collision_detector>
bullet
</collision_detector>
</dart>
</physics> </physics>
<plugin <plugin
filename="ignition-gazebo-physics-system" filename="ignition-gazebo-physics-system"