feat: add physics engine option

rickstaa · Dec 4, 2021 · 4c7d165 · 4c7d165
1 parent 17ea462
commit 4c7d165
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
@@ -7,6 +7,7 @@
   <arg name="paused"      default="false" doc="Should the simulation directly be stopped at 0s?" />
   <arg name="world"       default="worlds/empty.world" doc="Filename to a SDF World for gazebo to use" />
   <arg name="rviz"        default="false" doc="Should RVIz be launched?" />
+  <arg name="physics"     default="ode"   doc="The physics engine used by gazebo"/> <!--Phyics engines: bullet|dart|ode|simbody-->
 
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
@@ -32,6 +33,7 @@
        />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg gazebo)">
+    <arg name="physics" value="$(arg physics)"/>
     <arg name="world_name" value="$(arg world)"/>
     <!-- Always start in paused mode, and only unpause when spawning the model -->
     <arg name="paused" value="true"/>