Add support for no gravity link #2398
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+23
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🎉 New feature
Original issue: #504
A feature I find very useful when I use Gazebo Classic but surprisingly unavailable in Ignition.
I'm targeting Gazebo Fortress because I need this feature for my projects on Fortress. Might need some back/forward porting.
Changes in other repo:
gz-physics: gazebosim/gz-physics#633
sdformat: gazebosim/sdformat#1410
Summary
Add parsing and support for no gravity link when using DartSim engine
Implementation for other physics engines should be easy if they have link no gravity API.
Test it
Spawn the following entity to gazebo.
The way I do this is to add
<gravity>false</gravity>
togz-sim/examples/standalone/entity_creation
's inline sdf and run the example.The black sphere has link gravity disabled and the cube is spawned with GUI and has gravity by default.
Checklist
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