robot model parameters

[ZhiangChen]

when spawning a robot model using Bullet physics engine in Gazebo, it has an error.
[ERROR] [1662689537.978797450, 0.040000000]: ROS get_physics_properties service call does not yet support physics engine [bullet].

Thus, the robot model uses the default friction coefficient of 1. Even though you modify the value in the robot URDF model, the physics parameter can't be passed to Bullet.

One solution is to first load the robot model in Gazebo and modify the friction coefficient using model edit. Then save the model to your gazebo model path.

Next, you need to follow the steps below to load the robot and controller.

1. roslaunch the robot model with robot_description, regardless of the wrong or ignored friction coefficient.

roslaunch pbr_gazebo prismatic_large_box.launch 

2. delete the robot model in gazebo
3. insert the saved model with correct friction coefficient. Now you can check the friction coefficient in Gazebo
4. roslaunch the controller

roslaunch pbr_gazebo prismatic_controller_large_box.launch

5. rosrun the controller server and client

rosrun pbr_gazebo pulse_motion_server.py
rosrun pbr_gazebo pulse_motion_smart_client.py

[ZhiangChen]

this also applies to coefficient of restitution