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I've committed a *major* set of changes to CVS HEAD. Specifically:
- The Gazebo server "gazebo" no longer supports a native (compiled in)
GUI. All user interface functionality is handled through the
- I have added a new application "wxgazebo" that wraps a wxWindows GUI
around the server; run this instead of "gazebo" (with the same
arguments) if you want a nice pretty display.
What the hell is this all about, you may wonder. Well, there are a few
of things going on here:
1. I want to separate out GUI functionality from core server
functionality. This leads to simpler code in the server (no kludged
event handlers), rapid development of the GUI (high-level languages, not
C/C++), and makes is possible to have more than one GUI (developers can
easily write their own, if they see fit).
2. I want to be able to run the server in batch mode or on a remote
machine without popping up windows or producing unnecessary X traffic.
At the same time, I want to have the ability to attach (and detach) a
GUI to a running server, just to check on how things are going.
3. In our earlier implementation, simulated cameras did not always produce
correct output: if you cover the window or change to a different virtual
desktop, the simulated camera data will not be updated. With the new
implementation, this is no longer a problem.
There is, of course, a penalty to all this: the server now relies entirely
on off-screen OpenGL rendering, which may not be supported (in hardware)
on cheaper graphics cards. For these cards, the server will revert to
(slow) software rendering. Known working hardware accelerated
combinations include Linux/nVidia and Apple/nVidia; I would appreciate
feedback from people with other brands.
Andrew Howard email: ahoward@...
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
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