Maximum number of contacts Gazebo ROS

asked 2015-03-31 04:30:50 -0600

Nomad
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Where and how can we set maximum number of contacts in Gazebo?

By default the max. num. of contacts is 20 "rosparam get /gazebo/max_contacts" Setting the parameter to any other ( ex. 100) " rosparam set /gazebo/max_contacts 100 " does not affect the simulation results, I am always getting 20 contacts using gazebo plugin bumpers.

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Calling service rosservice call /gazebo/setphysicsproperties and setting maxcontacts to 100 does not work. After calling service rosservice call /gazebo/getphysicsproperties the maxcontacts is still 20.

Nomad ( 2015-04-06 05:09:06 -0600 )edit

in https://bitbucket.org/osrf/gazebo/src...

// MAX_CONTACT_JOINTS truncates <max_contacts> specified in SDF #define MAX_CONTACT_JOINTS 32 might be one reason which limits the number of contacts generated ?

GuiHome ( 2015-04-08 09:57:21 -0600 )edit

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answered 2015-03-31 06:31:13 -0600

GuiHome

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I think gazebo would react to a service call, not to a parameter change on the parameter server

maybe try using the

rosservice call /gazebo/set_physics_properties

and copy the current properties that you get with

rosservice call /gazebo/get_physics_properties

something like

rosservice call /gazebo/set_physics_properties "time_step: 0.001
max_update_rate: 1000.0
gravity: 
  x: 0.0
  y: 0.0
  z: 0.0
ode_config: 
  auto_disable_bodies: False
  sor_pgs_precon_iters: 0
  sor_pgs_iters: 50
  sor_pgs_w: 1.3
  sor_pgs_rms_error_tol: 0.0
  contact_surface_layer: 0.001
  contact_max_correcting_vel: 100.0
  cfm: 0.0
  erp: 0.2
  max_contacts: 100"

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@GuiHome the objects in Gazebo freeze after calling this service. However in RVIZ, I see that frames move and there even collisions. It seems that simulation is working but the visualization in Gazebo fails. The maximum number of contacts is still 20.

Nomad ( 2015-04-01 02:26:45 -0600 )edit

my suggested parameters have no gravity and settings that work on my side. You should copy the settings that worked for you using the get_physics_properties I double checked and indeed the maximum contact does not change after setting it

GuiHome ( 2015-04-08 09:38:53 -0600 )edit

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Maximum number of contacts Gazebo ROS

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