# How to integrate a bullet physics engine with an ode

Currently, I am in a situation where one of my sensors performs better when using bullet engine. When used under ode the Real Time Factor sinks to 0.05.

I would like to have this sensor in another simulation. However, that simulation seems to only work with ode, otherwise, it would show:

[Err] [BulletHingeJoint.cc:356] Joint must be created before getting low stop

[Err] [BulletHingeJoint.cc:345] Joint must be created before getting upper limit

[Err] [BulletHingeJoint.cc:442] Joint must be created before getting friction

This same simulation uses gazebo_ros_control, gazebo_ros_skid_steer_drive, and a Velodyne. (I don't know if any of those plugins makes the use of bullet engine impeditive).

My question is maybe how to integrate both worlds, bullet and ode. Or whether I should try to improve the sensors plugin to actually work with ode physics.

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