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Add gazebo world for non-NVIDIA GPU #371

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May 1, 2020
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2 changes: 1 addition & 1 deletion nextage_gazebo/launch/nextage_world.launch
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@


<!-- Load universal robotic description format (URDF) -->
<arg name="model" value="$(find nextage_description)/urdf/nxo_gz.xacro" />
<arg name="model" default="$(find nextage_description)/urdf/nxo_gz.xacro" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="$(arg gzpose) -J LARM_JOINT2 -2.0 -J RARM_JOINT2 -2.0 -urdf -model NextageOpen -param robot_description" />
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20 changes: 20 additions & 0 deletions nextage_gazebo/worlds/empty_for_non_nvidia.world
Original file line number Diff line number Diff line change
@@ -0,0 +1,20 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- Disable shadow to make world bright -->
<!-- Without activating NVIDIA GPU, world is very dark on gazebo 9 (ROS melodic) -->
<!-- See https://github.com/tork-a/rtmros_nextage/issues/370 -->
<!-- See https://bitbucket.org/osrf/gazebo/issues/2623/no-shadows-and-sun-light-with-non-nvidia -->
<scene>
<shadows>false</shadows>
</scene>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
</world>
</sdf>