Re: [PlayerStage-Gazebo] SVN Update

[Rich W. <rw...@sh...>]

"Nate Koenig" <nk...@us...> writes:

> On 7/13/07, Rich Walker <rw...@sh...> wrote:
>> "Nate Koenig" <nk...@us...> writes:
>>
>> > Hi Rich,
>> >
>> > The new version of gazebo should reduce the need for plugins. In the
>> > XML world file, you can build models from various bodies and geoms.
>> > You can also mix and match various controllers and interfaces. The
>> > controllers can be modified within the xml file as well.
>>
>> That seemed to be the way you were going. Presumably there's an "include
>> file here" mechanism scheduled?
>
> Actually, that is exactly what I'm working on now. Hopefully it will
> be in gazebo very soon.

Okay, that's good to know.

>>
>> Um; I'm looking at a 24DOF robot, so that will come later :->
>
> Well, that is a lot of DOF. There is a player interface that supports
> articulated links. It would be a matter of writing the player
> interface and a gazebo controller for it. I'll move this up on my TODO
> list.

I'm currently messing with the structure in ODE/drawgraph, for the
purpose of getting it to behave, so no rush there. Is that the "limb"
interface, by the way, because I think I only need actarray (and a whole
load of sensors...)

>> > Basically I would like to reduce the need for plugins. This will make
>> > it much easier to share robot models and worlds since their entire
>> > description will be contained in the XML file.
>>
>> True, but it makes the files a lot more painful to write (no arithmetic,
>> no looping constructs, ...) I guess I'll auto-generate it from something else.
>
> That is true. But the XML file will describe the physical
> characteristics of the robot. Controll of the robot will still be
> handled through compiled C code. So, if the need arises, I could see
> having plugin controllers.

Ok.

cheers, Rich.

-- 
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