Re: [PlayerStage-Gazebo] XODE gazebo_interface

[Jordi <mu...@gm...>]

> > Gazebo have a wheel body, if we can define a wheel as "wheel" we can
> > generate code that take advantage of that body. I don't know how to
> > better merge this with xode specification.
>
> Taking a look at the WheelGeom.cc and SphereGeom.cc, from what I can
> understand the "wheel" is the same as a sphere ode geom with different
> opengl code to render it. Since gazebo is internally using an ODE body
> maybe we could define it as an ODE body (xode compliant) - perhaps
> putting an extra tag that it is a wheel for the rendering part. I'm not
> sure how the collision detection works with it.
>

You are right, now  the wheel body is just a sphere body with wheel rendering. 
I think that  we should use the wheel body because in the future can be change 
to a better approximation to a wheel, have special parameters, etc. It's too 
much for the XML to also define how  the bodies are.




> > I agree with you, every gazebo's specific tag will begin with "gz_",
> > every gazebo interface tag will have the pattern: "gz_name_iface"
> >
> > I also like your general info tag idea.
> > But I won't put there the position and rotation information. The xode
> > specification have already tags to do that, so we can use the standar
> > <transform> tag. In fact we can use that tag for the sonar location also.
> > This way we don't need the "position and rotation just in case" solution.
>
> That wasn't the position and rotation of the model per se but the
> default values in case they are not defined in the world file. I guess
> we could use the transformation tag there too for consistency.
>
> > Also, the battery tag should go out of the general information and go
> > together with the gz_battery_iface info IMHO.
>
> That battery tag was also about the default values. I don't know if
> there is a need for a separate section for the model parameters and
> their defaults.


Maybe we can just define parameters. Any parameter that can be overwritten by 
the world file is a model default. Any other parameter is just a model 
constant.



> > Cameras should go inside the XML as everything else, we must decide how
> > we can best define them. I'll take a look to battery and cameras next,
> > I'll take your current specification as base.
>
> I was asking that because cameras now are completely different models
> with their own interfaces and parameters and stuff.
>

Then we can just define the camera's model in their own XML.
The world file will be use to join together the camera model with the robot 
model.
I'll take a look to this tomorrow.



--
Jordi Polo