Hi,
Just a slightly tangential note, it is in theory possible to build player with a minimal set of libraries and bind it all together without the transport layers. This would probably be a reasonable amount of up front work, but you would then have access to the full range of player drivers, and this could possibly fit within the constraints you have.

If you only need CMVision, then this would be a lot more work than just porting the driver to your system, but if you need a greater range of the player drivers then possibly it would be worth your while.

Toby

On 5/4/07, Juan D. Velasquez <jvelas@csail.mit.edu> wrote:
Hi Nate,

Thanks for the info. I think limiting gazebo to the simulation domain
is the right choice. Had we not some architectural constraints with
our app, I would use player  in an instant. It is by far one of the
best (and cleanest--conceptually speaking) robot control servers I
have seen in a while. Alas, I can't, not for this project at least.
So will definitely look in tho the driver for tips to start a rewrap.

Thanks again.

Best,

--Juan


On May 3, 2007, at 8:18 AM, Nate Koenig wrote:

> Hi Juan,
>
> If you are directly using libgazebo, then you'll have to write your
> own CMVision driver. We want to limit gazebo to the domain of pure
> simulation. Device drivers and sensor processing is better left to
> external apps such as Player or your own custom code.
>
> I would recommend looking at Player's CMVision driver as a starting
> point. Lots of people have used it, so it probably works well.
>
> -nate
>
> On 5/2/07, Juan D. Velasquez <jvelas@csail.mit.edu> wrote:
>> Thanks, Nate.
>>
>> Actually, because of multiple constraints with our architecture, I am
>> using libgazebo directly and am not using player. That's why I wanted
>> to see whether anyone had done something (re-wrapped CMVision or
>> something like it) to use directly with libgazebo, bypassing player.
>>
>> Thanks again for replying!
>>
>> --Juan
>>
>> On May 2, 2007, at 8:19 AM, Nate Koenig wrote:
>>
>>> Hello,
>>>
>>> You should use the blobfinder interface in Player. Image data
>>> provided
>>> by simulated camera in gazebo can be feed into a player blobfinder.
>>>
>>> Gazebo world file excerpt:
>>>
>>>   <model:Pioneer2AT>
>>>    <id>robot1</id>
>>>    <xyz>0.0 0.0 0</xyz>
>>>
>>>    <model:SonyVID30>
>>>      <id>camera1</id>
>>>      <xyz>0 0 0.30</xyz>
>>>      <rpy>0 0 0</rpy>
>>>    </model:SonyVID30>
>>>   </model:Pioneer2AT>
>>>
>>> Player config file excerpt:
>>>
>>> driver
>>> (
>>>   name "gazebo"
>>>   provides ["simulation:0"]
>>>   plugin "libgazeboplugin"
>>>   server_id "default"
>>> )
>>> driver
>>> (
>>>   name "gazebo"
>>>   provides ["camera:0"]
>>>   gz_id "camera1"
>>>   save 1
>>> )
>>> driver
>>> (
>>>   name "cmvision"
>>>   provides ["blobfinder:0"]
>>>   requires ["camera:0"]
>>> )
>>>
>>> -nate
>>>
>>> On 4/29/07, Juan D.Velasquez <jvelas@csail.mit.edu > wrote:
>>>> Hi everybody,
>>>>
>>>> Has anyone implemented a blobfinder interface to use directly with
>>>> libgazebo or does one have to re-wrap CMVision or something else
>>>> from
>>>> scratch?
>>>>
>>>> Thanks!
>>>>
>>>> --Juan
>>>>
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