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Use DART engine in Gazebo classic #146

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alsora opened this issue Feb 1, 2022 · 0 comments
Open

Use DART engine in Gazebo classic #146

alsora opened this issue Feb 1, 2022 · 0 comments
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enhancement New feature or request

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@alsora
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alsora commented Feb 1, 2022

The repository supports both Gazebo Classic and Gazebo Ignition.
The two simulators currently use a different physics engine (ODE for classic and DART for ignition).

We should update classic to use DART as well.
This is an improved engine and it will allow to remove some differences in parameters in the urdf (such as this one https://github.com/iRobotEducation/create3_sim/blob/main/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro#L24-L29)
@alsora alsora added the enhancement New feature or request label Feb 1, 2022
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