Gazebo Classic (aka Gazebo11)

gazebo-classic:scpeters/nonlinear_slip

  1. Git
  2. lp:gazebo-classic
  3. scpeters/nonlinear_slip
Last commit made on 2023-12-09
Get this branch:
git clone -b scpeters/nonlinear_slip https://git.launchpad.net/gazebo-classic

Branch merges

Branch information

Name:
scpeters/nonlinear_slip
Repository:
lp:gazebo-classic

Recent commits

89eaf90... by Steve Peters <email address hidden>

Add lateral nonlinear slip parameters as well

* Refactor the data definitions and parsing method
  to reduce duplication.
* Refine some unit vector calculations in ODEPhysics
  as well.

Signed-off-by: Steve Peters <email address hidden>

2509e1b... by Steve Peters <email address hidden>

Add piecewise linear wheel slip parameters

This extends the nonlinear wheel slip model with
piecewise linear parameters for the slip compliance
multipliers.

Signed-off-by: Steve Peters <email address hidden>

6a96f11... by Steve Peters <email address hidden>

Add parameter to disable slip scaling

The slip compliance parameters are currently scaled
by the number of contact points, but this can cause
issues on heightmaps when transitioning between
triangle patches. This adds a parameter to disable
the scaling behavior, while retaining the current
behavior as the default.

Signed-off-by: Steve Peters <email address hidden>

9f96569... by Steve Peters <email address hidden>

Example world with nonlinear slip effect

Signed-off-by: Steve Peters <email address hidden>

87da654... by Steve Peters <email address hidden>

ODEPhysics: implement nonlineaar slip effect

Signed-off-by: Steve Peters <email address hidden>

5101e48... by Steve Peters <email address hidden>

Fix whitespace in example world

Signed-off-by: Steve Peters <email address hidden>

65cc16d... by Steve Peters <email address hidden>

ODECollision: add nonlinear_slip plowing params

Apply scaling to slip compliance above and below
threshold slopes to induce a nonnlinear effect.

Signed-off-by: Steve Peters <email address hidden>

60ca901... by Steve Peters <email address hidden>

Add ODELink::AddedForce accessor

This returns the total forces added by the
AddForce and AddRelativeForce APIs. This change
breaks ABI and is not intended for gazebo11.

Signed-off-by: Steve Peters <email address hidden>

2e61240... by Steve Peters <email address hidden>

Add Model::GetMass API that returns cached mass

This breaks ABI, so is not intended for gazebo11.
Compute and cache mass in Model::Init.

Signed-off-by: Steve Peters <email address hidden>

af7d327... by Steve Peters <email address hidden>

gzclient: improve startup reliability (#3338)

MainWindow: try getting scene info from the service,
which is more reliable than the request / response topics.
Fall back to using the request / response topics if the
service is not available or the call fails.

Signed-off-by: Steve Peters <email address hidden>