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How to use bullet in gazebo 3.0 ?

asked 2014-04-16 07:58:16 -0600

AndreiHaidu gravatar image

updated 2014-04-16 07:58:47 -0600

Hi,

How to select bullet as a physics engine in gazebo 3.0? I am using ubuntu 13.04 with gazebo installed from debian. Also ran the bullet installation from here.

If I do it from the world file, with the tag

<physics type="bullet">

gazebo does not starts without giving any error.

starting it with:

$ gazebo -e bullet

it runs with the default one, ODE. Following code outputs 'ode'

this->world->GetPhysicsEngine()->GetType()

Cheers, Andrei

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answered 2014-04-16 10:03:16 -0600

Jose Luis Rivero gravatar image

To get the support for physics engine different than ODE, a full from source installation of gazebo is needed, since it has to built the binary support at compilation time. I'm afraid that you can not use the debs to get this kind of support.

The good news is that is in our roadmap for Gazebo 4.0 to implement plugin support the physics engines, so hopefully you can do this from .debs in the future.

I've clarified the need of a from source installation in our install document a bit more. Thanks Andrei.

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Comments

It makes sense, thanks for the answer :) And having a plugin type support of the physics engines won't slow down the simulation?

AndreiHaidu gravatar imageAndreiHaidu ( 2014-04-16 16:19:05 -0600 )edit

When speaking about plugins, think on dynamic symbol loading, which should happen just once and load the library in memory (via dlopen). I would say that it won't mean a big overhead speaking about performance.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2014-04-16 17:36:04 -0600 )edit
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Asked: 2014-04-16 07:58:16 -0600

Seen: 1,364 times

Last updated: Apr 16 '14