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World State Payload
Adnan Munawar edited this page May 1, 2019
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There exists a single instance of simulation World called afWorld. Similar to afObjects, afWorld is controllable using ambf_msgs/afWorldCmd message and relays its state using the ambf_msgs/afWorldState message.
WorldState Payload | Description |
---|---|
header | The ROS message header includes seq_number, time_stamp and frame_id. frame_id not used for now |
dynamic_loop_freq | The frequency of underlying pyhsics solver loop |
n_devices | The number of haptics/input devices currently connected AMBF Simulator |
sim_step | The number of simulation steps of the physics solver. This keeps incrementing |
wall_time | The System Clock (Wall Clock) in seconds |
sim_time | The time of the physics simulation. For RT sim_time == wall_time |
The AMBF Simulator
Introduction
- Installing AMBF
- Launching the Simulator
- Selecting Robot(s) to Launch
- The Python Client
- Understanding the Input Device Specification
- Understanding Command Line Arguments
- Keyboard and Mouse Shortcuts
- Mouse Control Multipliers
Useful Tools
Concepts:
- Collision Filtering
- Preprocessing Shaders
- Publishing Camera Feed and Depth Point Cloud
- Setting Per Object or Per Model Level Gravity:
Examples