Simplify passing the physics parameters to the Server
#335
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traversaro
approved these changes
Apr 28, 2021
| // 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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This is intended, the same information was printed in the GazeboSimulator before.
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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::Rootof the inserted world to specify the rtf and the physics step used by the server (more precisely, by theSimulationRunner, as was recently discussed in #296 (comment)).Using the new
PhysicsandPhysicsCmdcomponents allows simplifying our logic, and opens the possibility (not implemented in this PR) to change the parameters after the initialization ofGazeboSimulator.