On 16-Oct-07, at 4:58 AM, Vaibhav Ghadiok wrote:

I tried the option with a single player instance. If I put the code for all the bots in one client file, won't it make the entire process sequential rather than concurrent?

Yes. But if you have only 1 CPU, the processes are really sequential anyway, and you have the overhead of process switching. Even if you have 2 cores (or even 4 on a high-end machine), consider that you're also running Player, Gazebo and the kernel. You probably max out the concurrency benefits from those four processes. 

Remember that concurrency is mostly a convenient illusion. The best possible performance is to have as few processes as you can, each working as hard as possible.

Richard/

On 10/16/07, Toby Collett <tcollett+player@plan9.net.nz> wrote:
if you do still want to do it with shell script, 'screen' will be your friend.

Toby


On 16/10/2007, xbill (Luca,) < xbill82@gmail.com> wrote:
I think you are focusing the problem from a point of view that is essentially not elegant.
My way to approach the problem would be to define the 5 robots in the world file (I hope this is correct, I not expert with gazebo...) as to be able to start just one instance of player.
Then I would try to control the five instances of the robot control class in just one client (I don't know if you're using the playerc++ library) and try to group the output of the five robot in an elegant interface: maybe developing a gui would mean less effort for you than trying to create a complicate shell script that opens terminal tabs, don't you think?

I hope my suggestions are correct and they help you.

Luca;)


On 10/15/07, Vaibhav Ghadiok < vaibhavghadiok@gmail.com> wrote:
hi everybody

I had two small questions:

I. I have five robots running in Gazebo. Now, the problem is that each time I need to:

1. Start Gazebo
2. Start 5 instances of player
3. Start the respective client programs

Now, I have some 11 tabs in my terminal window.

I tried writing a shell script by starting each of these with a & appended at the end to run them as background processes. But it doesn't seem to work. Not surprising, since, if one types wxgazebo file.world&, the terminal proceeds to print what it has to and the prompt doesn't show.

Is there a way of opening new tabs in the terminal window through a shell script?

Is there any elegant way of doing this?

I want to keep the code for the robots separate as I can avoid using multi-threading as well keep it scalable.





II. The second issue is that my robots need to read the position info of other bots. Anyway of doing this?

I read about the relay drivers from previous posts. But I am afraid that on a real implementation there may be timing differences between comps and it will be imposible to get the order of the messages.

Any better away apart from every bot subscribing to all proxies

Cheers
Vaibhav



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