Re: [Playerstage-developers] Stage and Gazebo Convergence

[Richard V. <va...@sf...>]

Gz and Stg are very different, despite the similarities you mention.
For example, Gz's OpenGL stuff is behind a scenegraph library, so
there's not much in common in the application-level graphics code.

I can see an advantage in a lightweight physics model for Gazebo, and
also in a simplified Gz worldfile wrapper (probably requiring some
restrictions on 3D geometry, like Stage). Maybe Stage code can be
cannibalized towards that?

It might be hard to splice them without adding a lot of complexity to
both. The main advantage of Stage right now, if you can live without
Gz's dynamics, real 3D and texture mapping, is the ease of runtime
configuration (i.e. simple worldfile syntax),  speed and scalability
(O(1) models) and ease of building.

Richard/

On Sat, Jun 28, 2008 at 3:36 PM, Toby Collett
<tco...@pl...> wrote:
> Hi all,
> I can't help but notice that the functionality of Stage and Gazebo have a
> lot of overlap. Both now use opengl for rendering (different toolkits, but
> same basic tech). Both have code to provide sensing in the world model, and
> both have some sort of physics model and controllers. The major difference
> is of course in the physics layer.
>
> With Gazebo's PAL (physics abstraction layer) branch, would it be possible
> to effectively combine the two projects, make one simulator with gazebo and
> stage physics layers. If anything is possible here, it would probably be the
> versions after Stage 3 and gazebo 0.8, but thought I would float the idea
> and see what the feeling out there was. It is possible that I might be able
> to find a summer Intern to work on the initial stages of this (our summer is
> Nov->Feb), but only if there is interest amongst the developers as well.
>
> Toby
>
> P.S. I didnt cross post to the Gazebo list, if it is felt that it should be
> feel free to do so.
>
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-- 
Richard Vaughan
Autonomy Lab / Computing Science / Simon Fraser University