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Made slightly faster

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

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

7
src/dcaiti_control/worlds/generated_worlds/AU2_skidpad.sdf
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@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="empty">
<physics name="phys" type="ode">
<physics name="phys" type="dart">
<max_step_size>0.005</max_step_size>
<real_time_factor>1.0</real_time_factor>
<ode>
@ -12,6 +12,11 @@
<friction_model>cone_model</friction_model>
</solver>
</ode>
<dart>
<collision_detector>
bullet
</collision_detector>
</dart>
</physics>
<plugin
filename="ignition-gazebo-physics-system"