Hi everyone!

I am trying to use gazebo with dart from a launch file.

My problem is that i get the following error:

[ERROR] [1662735927.747255354]: ROS get_physics_properties service call does not yet support physics engine [dart].

and this warning

Warning [BodyNode.cpp:469] [BodyNode] A negative or zero mass [0] is set to BodyNode [link], which can cause invalid physical behavior or segfault. Consider setting positive value instead.

I wonder if i am setting the physics engine correctly, i do this in my launch file as such:

<!-- Launch gazebo with an empty world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="physics" value="dart" />
    <arg name="world_name" value="$(find microrobot)/worlds/custom_empty.world"/>
    <arg name="paused" default="true" />
    <arg name="use_sim_time" default="true" />
    <arg name="gui" default="true" />
    <arg name="headless" default="false" />
    <arg name="debug" default="false" />
</include>

I believe that the error is raised because the physics engine can't find some properties in the custom world file i have. I checked in the gazebo client (gui) and the iters and sor were 0. Despite that the simulation runs as expected without crashing.

Does anyone know how to fix this? I have found two similar questions (question1 and question2) in this forum but the answers given are inconclusive.

Thank you for your time.