As appealing as Gazebo is, it isn't well suited for our test, I don't think.

I have a lot of 3D experience, but unfortunately my partner does not. I am familiar with ODE (Used OGRE for some demos etc). Also, I work on my laptop, which has a GeForce 4 TI 4200, but the other computers we have to work with only have integrated intel graphics chips, and being lab computers we don't have root access and can not change the video drivers etc.

I want to work with Gazebo at some point, it looks great.

For our tests, we also need a lot of repitition. Our stage is relatively small, but we are copy/pasting it 10x10 so we can run 100 bots at a time. That would bring any of our computers to its knees in Gazebo I think. However, I could be wrong given my total lack of gazebo experience beyond compiling it.

Mostly I was hoping someone would know if those things on the list are possible to do without error... /shrug

Thanks for your replies.
Tim


On 3/31/06, Jordi <mumismo@gmail.com> wrote:

Well, working with Player/Gazebo is as easy as working with player/stage.
It seems that you hitted bugs in stage, so is not likely that you find the
same bugs in gazebo.
Here you have some tips for gazebo:
http://playerstage.sourceforge.net/doc/Gazebo-manual-cvs-html/player.html




Friday 31 March 2006 17:33、Tim Reynolds さんは書きました:
> No, we have not tried anything in Gazebo.
>
> We are working only in Player/Stage.
>
> On 3/31/06, Jordi <mumismo@gmail.com> wrote:
> > Have you tried your program on gazebo?
> >
> > Friday 31 March 2006 16:36、Tim Reynolds さんは書きました:
> > > Hello
> > >
> > > A fellow student and I are doing research into various AI techniques
> > > for controlling robots and are using Player/Stage.
> > >
> > > First, Player/Stage is amazing software, and you guys have done a
> >
> > wonderful
> >
> > > job.
> > >
> > > Part of this while project is that we are developing a framework / API
> >
> > for
> >
> > > easily writing bot AI and controlling the timing of actions.
> > > We are testing a few AI techniques with this: Standard state machine,
> >
> > swarm
> >
> > > bots and genetic algorithms.
> > >
> > > We have run into a few problems and were wondering if we could get any
> > > insight.
> > >
> > > 1) Grippers
> > > When we use grippers to grab another bot, a few different things can
> > > happen, none of which are what we expected.
> > > a - If the bot that is grabbed is not active, it loses all devices
> >
> > attached
> >
> > > to it. (This is of course using Stage). A bot is able to connect to it
> > > later, but when it tries to read from the sensors the whole simulation
> > > crashes.
> > > b - If the bot that is grabbed is active, once it is grabbed the
> >
> > simulation
> >
> > > crashes upon calling read() in Player.
> > >
> > > We are not sure if we are doing something wrong here. Is this just a
> >
> > 'not
> >
> > > possible' thing at this point?
> > > One area we were looking to use this in is part of our simulation,
> > > which
> >
> > is
> >
> > > a game of Jail Break. We have 'guard' and 'prisoner' bots. The game is
> >
> > for
> >
> > > the prisoners to get the correct keys to open doors and get to the
> >
> > 'goal'
> >
> > > area. Keys are just objects, doors are actually bots using color blob
> > > finders and omni-directional movement.
> > >
> > > The two ways it was going to be used was for the 'guard' bots to grab
> >
> > the
> >
> > > 'prisoner' bots, and the other was just a novel game type we wanted to
> >
> > try
> >
> > > where we have both the swarm bots and the state machine bots in the
> > > same area. The 'key' for the swarm bots is a normal key, whereas the
> > > key for
> >
> > the
> >
> > > state machine bot is one of the swarm bots. The bot would have to catch
> >
> > one
> >
> > > to get out. Childish, but fun.
> > >
> > > 2) Pan-Tilt-Zoom
> > > I have not personally worked on this yet, but my friend tells me that
> >
> > when
> >
> > > he tries to adjust the PTZ for, say, the blob finder, it causes the FOV
> >
> > to
> >
> > > go to zero, or what appears to be zero. Was wondering if there were
> >
> > known
> >
> > > issues with that or a particular way for doing that.
> > >
> > > 3) Disconnects and the Player client crashing.
> > > When I close Stage, all connected player clients crash with a socket
> >
> > read
> >
> > > error [Success] ( A broken pipe error). This is a problem. The
> >
> > destructors
> >
> > > aren't getting called. I tried using a try / catch block to see if
> > > there was an exception I could catch, but there doesn't seem to be one.
> > > This
> >
> > is a
> >
> > > bit of a problem. However, I am assuming I am just missing something
> >
> > here.
> >
> > > I THINK the player client is crashing on the read() command, so is
> > > there something I can check, variable or method, before calling read to
> > > ensure that the socket is still open? Does Stage send out any kind of
> > > message before it closes that would indicate to the bot that it needs
> > > to close
> >
> > as
> >
> > > well?
> > >
> > > Thank you very much.
> > >
> > > After I finish up the API, I would love to send it to you guys, see
> > > what you think. /shrug.
> > >
> > > Tim Reynolds
> > > razialx@gmail.com
> >
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