Silvio Traversaro
Silvio Traversaro
Mismatch about default collision detector between SDFormat specification and Gazebo Sim documentaion
My guess is that "fcl" is the Gazebo Classic default, while "ode" is the modern gz-sim default, but I did not double checked. xref to a kind of generic issue...
> @traversaro, as far as I know the preferred direction here is to implement the [standalone binaries](https://github.com/gazebosim/gz-tools/issues/7), but we don't have a PR for that for gz-sim yet, so I'll...
> **Original comment by Addisu Z. Taddese (Bitbucket: [azeey](https://bitbucket.org/%7B9d7fdc68-d270-4080-bf03-4df0d0dbf635%7D/), GitHub: [azeey](https://github.com/azeey)).** > > Looks like there is a [global cache](https://bitbucket.org/odedevs/ode/src/a77b1d06e3a62b0116e7d3c4be4c6beaac8726ea/ode/src/collision_trimesh_internal.h#lines-203) used by the collision detector in ODE. One thing to...
One thing that we could think of at some point in the future (clearly not in an already released version of Gazebo) is to switch the default collision detector in...
> remember `FCL` converted primitive shapes to meshes, which caused unexpected behaviors. That seems to be still the case, see the corresponding DART issue: https://github.com/dartsim/dart/issues/19 (that seems to be blocked...
Yes, indeed looking at bit at issues it seems that each collision detector has some issues, so there is no clearly better DART collision detector, xref: https://github.com/gazebosim/gz-sim/issues/1306 . Also in...
I investigate a bit the problem as it occurs in https://github.com/robotology/gz-sim-yarp-plugins/issues/201 for some specific test. I was able to fix the crash with error: ~~~ ODE INTERNAL ERROR 1: assertion...
I noticed something unfortunate related to: ~~~ ODE INTERNAL ERROR 1: assertion "!colliders_initialized" failed in dInitColliders() [collision_kernel.cpp:168] ~~~ flaky errors. I tried to work around it by setting another collision...
A bit a recap of the situation, after https://github.com/gazebosim/gz-sim/pull/1764 https://github.com/conda-forge/libignition-gazebo-feedstock/pull/52 : ## GUI support is disabled `ign gazebo` and `ign gazebo -g` explicitly do not work, printing instead a nice...
fyi @tfoote @nkoenig as you both asked about this.