Skip to content

Gazebo worlds

The element defines the global environment, which includes:

  • Physics engine configuration
  • Global plugins
  • Time stepping
  • Gravity
  • Magnetic field
  • Global lighting
  • Scene / rendering settings
  • Spherical coordinates (for GPS)
  • Atmosphere model
  • Global contact / sensor processing systems

Physics engine

The default engine is DART but gazebo can run ode and bullet

Tip

To support back capability we set the type to ignore , if we set tag that not supported by the engine gazebo ignore them and use DART engine

1
2
3
4
<physics name="1ms" type="ignored">
    <max_step_size>0.001</max_step_size>
    <real_time_factor>1.0</real_time_factor>
</physics>