Uploaded May 2016 | Updated September 2026, 2 hours ago
A thin ROS wrapper for bullet physics (bulletphysics.org/), uses rviz for visualization. Bullet already is used within Gazebo, but many advanced features of bullet are not- soft bodies especially (though I'm not supporting soft bodies yet either).
github.com/lucasw/simple_sim_ros
Bodies and constraints (joints) can be created live, which is not always a great idea for stability but can be entertaining- when a constraint is created between two distant objects they sometimes spring high into the air.
Bodies and Constraints and Impulses are created via topics currently, though at least for the first two I should switch to services.
A thin ROS wrapper for bullet physics (bulletphysics.org/), uses rviz for visualization. Bullet already is used within Gazebo, but many advanced features of bullet are not- soft bodies especially (though I'm not supporting soft bodies yet either).
github.com/lucasw/simple_sim_ros
Bodies and constraints (joints) can be created live, which is not always a great idea for stability but can be entertaining- when a constraint is created between two distant objects they sometimes spring high into the air.
Bodies and Constraints and Impulses are created via topics currently, though at least for the first two I should switch to services.
