remove `groud_plane` in gazebo
chauvinSimon opened this issue · comments
By default, roslaunch panda_moveit_config demo_gazebo.launch populates Models with two objects:
- the panda
- a
ground_plane
Internally, demo_gazebo.launch launches franka_gazebo/launch/panda.launch from franka_gazebo
As shown on the animation, the ground_plane acts as an obstacle and prevents the robot from reaching negative z
A solution is to manually remove ground_plane, but this needs to be done each time gazebo is started
My question: is it possible to remove ground_plane permanently?
I guess it must be defined in some config file
- Nevertheless I could not find where
- In
stone.sdf, removing the section of<uri>model://ground_plane</uri>does not help.
Loading franka_gazebo/panda.launch allows to specify your own Gazebo world model: https://github.com/rhaschke/franka_ros/blob/cartesian-impedance/franka_gazebo/launch/panda.launch#L8
Specifying stone.sdf with groundplane removed, works as expected:
roslaunch franka_gazebo panda.launch world:=$PWD/src/robots/franka_ros/franka_gazebo/world/stone.sdf x:=-1
The default world, Gazebo's /usr/share/gazebo-11/worlds/empty.world comprises the ground plane as well.
Brilliant!
Thank you @rhaschke for the quick and complete answer!