A few major changes have been incorporated into Gazebo. In brief, these
include a new rendering engine, and the ability to use terrains. Of
primary concern to most is that old world files will no longer work
properly with this new code. The changes are not significant, and there
are plenty of examples in the example1.world file.
The new rendering engine is OpenSceneGraph, which can be found at:
The usage of this library should be relatively transparent.
Terrains are currently generated from grayscale png files. We make use
of the GDAL library to import the data. This library can also import
many other data formats, so please don't feel limited to png files. The
library can be found at:
If you have any problems, particularly with installation of the new
libraries please let us know., suggestions, patches please let us know.
Below is a list of more specific information.
-nate and andrew
- The <pos> and <rot> world file tags are now depricated in favor of
<xyz> and <rpy>. Use <xyz> to specify the x, y, and z coordinates of a
model, and <rpy> for the roll, pitch, and yaw. The old tags are still
valid, but will be remove in the near future.
- In order to use terrains, ODE must be compiled with OPCODE. In the
user-settings file, set PRECSION=SINGLE and set the
OPCODE_DIRECTORY=OPCODE. It is recommended that you NOT use the ode
version in the gazebo distribution.
- Terrains can only handle collisions with spheres. Anything else will
pass through. To handle this, a new geom has been added called
WheelGeom. This geom behaves as a sphere (for collision detection
purpose) but is drawn as a cylinder. All wheel based models have been
updated with this new geom.
- Place models relatively close to the terrain when starting the
simulation. If they fall too far they may pass through the terrain.
- The laser currently does not work with terrains. This should be fixed
- A new tag named <visualization> (see exampl1.world), allows you to
override model specific rendering preferences.
- Light sources can be placed and adjusted in the environment. Again see