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Simplify passing the physics parameters to the Server #335

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merged 3 commits into from
Apr 28, 2021

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diegoferigo
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gazebosim/gz-sim#536 introduced the possibility of changing during runtime some of the physics parameters. So far, we had to pass through the sdf::Root of the inserted world to specify the rtf and the physics step used by the server (more precisely, by the SimulationRunner, as was recently discussed in #296 (comment)).

Using the new Physics and PhysicsCmd components allows simplifying our logic, and opens the possibility (not implemented in this PR) to change the parameters after the initialization of GazeboSimulator.

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@traversaro traversaro left a comment

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Minor comment.

// Print the active physics profile
const auto& physics = utils::getExistingComponentData< //
ignition::gazebo::components::Physics>(m_ecm, m_entity);
sDebug << "Initializing world '" << this->name()
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Did you intended to commit a debug print or it was a leftover?

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@diegoferigo diegoferigo Apr 28, 2021

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This is intended, the same information was printed in the GazeboSimulator before.

@diegoferigo diegoferigo merged commit 159bb15 into devel Apr 28, 2021
@diegoferigo diegoferigo deleted the feature/physics_params branch April 28, 2021 07:24
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2 participants