[PlayerStage-Gazebo] gazebo xml SUCCESS

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

After some days of coding I've managed to use the first gazebo's XML model.

I used the example.world file (without the terrain, I got seg fault with that) 
All the models in that file were the tradicional c++ coded based models, 
except for  the SickLMS200 laser model. That model was loaded from a XML 
file:
http://gazeboxml.pbwiki.com/SickLMS200

So it's very possible to mix C++ models with new XML based models.


The only two differences between both (C++ and XML) models is that 
- The XML models still have no colours
- The cylinder in the XML model is rotated (I still don't know why)

The XML model can return laser and fiducial data.

So far I've written the XODE parser, laser parser and sonar parser.

I'm willing to open a new branch in the Gazebo CVS to deal with the 
development of models as XML files. 
I need rights in the sourceforge project for that  or I can maintain that 
branch elsewhere (although will be much difficult to keep in sync). 


You don't imagine how easy is just edit the xml file in a window and launch 
the server in the other window. Edit, launch, edit launch....


The code still have lots of TODOs but I've tried to document it as much as 
possible  and use the  code guidelines of Gazebo.


^_^/
Jordi Polo